WO2024070464A1 - Dispositif de commande de moteur - Google Patents

Dispositif de commande de moteur Download PDF

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Publication number
WO2024070464A1
WO2024070464A1 PCT/JP2023/031704 JP2023031704W WO2024070464A1 WO 2024070464 A1 WO2024070464 A1 WO 2024070464A1 JP 2023031704 W JP2023031704 W JP 2023031704W WO 2024070464 A1 WO2024070464 A1 WO 2024070464A1
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WIPO (PCT)
Prior art keywords
phase
motor
energization
switching
time
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PCT/JP2023/031704
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English (en)
Japanese (ja)
Inventor
大祐 山本
純 山田
健一 大石
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株式会社デンソー
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Publication of WO2024070464A1 publication Critical patent/WO2024070464A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault

Definitions

  • This disclosure relates to a motor control device.
  • Patent Document 1 a disconnection detection circuit is provided in each current carrying line of the winding for each phase to detect disconnection.
  • the motor can continue to be driven.
  • the energized phase that is switched to next after the broken phase is set as the first energized phase, and the motor is driven using normal phases.
  • the stator salient poles of the energized phase and the rotor recesses may face each other, and the energized phase and the rotor teeth may not face each other.
  • the purpose of this disclosure is to provide a motor control device that can properly drive a motor when one phase is broken.
  • the motor control device disclosed herein controls the drive of a motor having three-phase motor windings, and includes a drive control unit and a control unit.
  • the drive circuit has switching elements that switch on and off the power supply to each phase of the motor windings.
  • the control unit has a drive control unit that controls the on/off operation of the switching elements by feedback control based on the detection value of a rotational position sensor that detects the rotational position of the motor, and an abnormality determination unit that determines whether the motor windings have an open circuit.
  • the drive control unit When a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor using the two normal phases, the drive control unit performs pre-start preparation processing to energize the energized phase after energizing it in a pattern different from the energization pattern to the energized phase that is the energized phase when normal two-phase drive begins. This allows the motor to be driven appropriately when one phase is broken.
  • FIG. 1 is a perspective view showing a shift-by-wire system according to a first embodiment
  • FIG. 2 is a schematic configuration diagram showing a shift-by-wire system according to a first embodiment.
  • FIG. 3 is a circuit diagram illustrating an ECU according to a first embodiment;
  • FIG. 4 is a schematic diagram showing a motor according to a first embodiment;
  • FIG. 5 is a map in which energized phase numbers are associated with energized phases according to the first embodiment;
  • FIG. 6 is an explanatory diagram illustrating a disconnection phase and a facing position according to a switching direction according to the first embodiment;
  • FIG. 1 is a perspective view showing a shift-by-wire system according to a first embodiment
  • FIG. 2 is a schematic configuration diagram showing a shift-by-wire system according to a first embodiment.
  • FIG. 3 is a circuit diagram illustrating an ECU according to a first embodiment
  • FIG. 4 is a schematic diagram showing a motor according to a first embodiment
  • FIG. 7 is a schematic diagram showing an opposing state at the start of energization when driving in the forward direction in the event of a U-phase disconnection in the first embodiment;
  • FIG. 8 is an explanatory diagram for explaining motor drive in normal two-phase in the first embodiment;
  • FIG. 9 is an explanatory diagram illustrating switching of energized phases in a pre-switching preparation process according to the first embodiment;
  • FIG. 10 is an explanatory diagram illustrating a behavior of a rotor in a pre-switching preparation process according to the first embodiment;
  • FIG. 11 is a flowchart illustrating a range switching process according to the first embodiment.
  • FIG. 12 is a time chart illustrating the range switching process according to the first embodiment.
  • FIG. 13 is a flowchart illustrating a range switching process according to the second embodiment.
  • FIG. 14 is a flowchart illustrating a range switching process according to the third embodiment.
  • FIG. 15 is a time chart illustrating the range switching process according to the third embodiment.
  • FIG. 16 is a flowchart illustrating a range switching process according to the fourth embodiment.
  • FIG. 17 is a time chart illustrating the range switching process according to the fourth embodiment.
  • FIG. 18 is a time chart illustrating the range switching process according to the fourth embodiment.
  • FIG. 19 is a flowchart illustrating a range switching process according to the fifth embodiment.
  • FIG. 20 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 21 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 20 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 22 is a time chart illustrating the range switching process according to the fifth embodiment.
  • FIG. 23 is a flowchart illustrating a startup process according to the sixth embodiment.
  • FIG. 24 is a flowchart illustrating a range switching process according to the sixth embodiment.
  • FIG. 25 is a time chart illustrating the range switching process according to the sixth embodiment.
  • FIG. 26 is a time chart illustrating the range switching process according to the sixth embodiment.
  • FIG. 27 is a time chart illustrating the range switching process according to the sixth embodiment.
  • the shift-by-wire system 1 includes a motor 10, a detent mechanism 20, a parking lock mechanism 30, and an ECU 40 as a motor control device.
  • the motor 10 rotates when power is supplied from a battery 90 mounted on the vehicle (not shown), and functions as a drive source for the detent mechanism 20.
  • the motor 10 is, for example, a switched reluctance motor.
  • the motor 10 has a stator 101, a rotor 103, and a motor winding 11.
  • the motor winding 11 has a U-phase coil 111, a V-phase coil 112, and a W-phase coil 113, and is wound around the salient pole 102 of the stator 101.
  • the coils 111 to 113 are connected at a connection part 115.
  • the connection part 115 is connected to the battery 90 via a motor relay 91 and a fuse 92.
  • the rotor 103 has salient poles and is rotatably mounted radially inside the stator 101.
  • the rotor 103 is rotationally driven by switching the current phase of the coils 111 to 113.
  • the stator 101 has 12 salient poles and the rotor 103 has 8 salient poles.
  • the salient poles of the rotor 103 will be referred to as convex portions 104, and the spaces between the convex portions will be referred to as concave portions 105.
  • Encoder 13 is a magnetic rotary encoder that detects the rotational position of rotor 103.
  • Encoder 13 is composed of Hall elements 131 and 132 for magnetic detection, and a magnet 135 that rotates integrally with rotor 103.
  • Hall elements 131 and 132 output pulse signals every predetermined angle in synchronization with the rotation of rotor 103.
  • Hall elements 131 and 132 output a Lo signal when facing the N pole, and a Hi signal when facing the S pole.
  • the magnet 135 is formed in an annular shape and is arranged coaxially with the rotor 103.
  • the magnet 135 is magnetized with alternating north and south poles at equal pitches in the circumferential direction.
  • the magnetization pitch is 7.5°. This magnetization pitch is the same as the rotation angle of the rotor 103 per excitation of the motor 10.
  • Hall elements 131 and 132 are arranged on the same circumference with a phase difference of 90° electrical angle.
  • an electrical angle of 90° corresponds to a mechanical angle of 3.75°
  • hall elements 131 and 132 are arranged with an interval of 48.75°.
  • the signal of hall element 131 is phase A
  • the signal of hall element 132 is phase B.
  • encoder 13 is a two-phase encoder, it may be a three-phase encoder, or may output a Z-phase signal as a reference signal in addition to the detection signal.
  • the reducer 14 is provided between the motor shaft of the motor 10 and the output shaft 15, and reduces the rotation of the motor 10 before outputting it to the output shaft 15. This transmits the rotation of the motor 10 to the detent mechanism 20.
  • the output shaft sensor 16 is, for example, a potentiometer, and detects the rotational position of the output shaft 15 (see FIG. 2).
  • the detent mechanism 20 has a detent plate 21, a detent spring 25, and a detent roller 26, and transmits the rotational driving force output from the reduction gear 14 to the parking lock mechanism 30.
  • the detent plate 21 is fixed to the output shaft 15 and driven by the motor 10. On the side of the detent spring 25 of the detent plate 21, two valleys 211, 212 and a peak 215 separating the valleys 211, 212 are provided.
  • the detent spring 25 is a plate-shaped member that can be elastically deformed, and has a detent roller 26 at its tip.
  • the detent spring 25 biases the detent roller 26 toward the center of rotation of the detent plate 21.
  • the detent spring 25 elastically deforms, and the detent roller 26 moves between the valleys 211, 212.
  • the detent roller 26 fits into either of the valleys 211, 212, the oscillation of the detent plate 21 is restricted, and the state of the parking lock mechanism 30 and the shift range of the automatic transmission 5 are determined.
  • the parking lock mechanism 30 has a parking rod 31, a cone 32, a parking lever 33, a shaft 34, and a parking gear 35.
  • the parking rod 31 is formed in a roughly L-shape, and one end 311 is fixed to the detent plate 21.
  • a cone 32 is provided on the other end 312 of the parking rod 31.
  • the cone 32 is formed so that its diameter decreases as it approaches the other end 312.
  • the parking lever 33 abuts against the conical surface of the cone 32 and is arranged to be able to swing around the shaft 34.
  • a protrusion 331 that can mesh with the parking gear 35 is provided on the parking lever 33's parking gear 35 side.
  • the parking gear 35 is connected to a drive shaft (not shown) and is arranged so that it can mesh with a protrusion 331 of the parking lever 33.
  • the rotation of the drive shaft is restricted.
  • the shift range is a not P range other than P
  • the parking gear 35 is not locked by the parking lever 33, and the rotation of the drive shaft is not hindered by the parking lock mechanism 30.
  • the shift range is P range
  • the parking gear 35 is locked by the parking lever 33, and the rotation of the drive shaft is restricted.
  • the rotation direction of the motor 10 when switching from the P range to the notP range is the forward direction
  • the rotation direction of the motor 10 when switching from the notP range to the P range is the reverse direction
  • the ECU 40 includes a drive circuit 41, a current detection unit 45, a voltage detection circuit 46, and a control unit 50.
  • the drive circuit 41 has three switching elements 411, 412, and 413.
  • the switching elements 411 to 413 are provided corresponding to the coils 111 to 113, respectively, and switch the current flow to the corresponding phase.
  • the switching elements 411 to 413 are provided between the coils 111 to 113 and ground.
  • the switching elements 411 to 413 in this embodiment are MOSFETs, but may also be IGBTs, etc.
  • Current detection unit 45 is provided on the collective wiring that connects the sources of switching elements 411-413 to ground, and detects the sum of the currents flowing through coils 111-113.
  • the current detected by current detection unit 45 is referred to as motor current Im.
  • Current detection unit 45 may be provided at any location where it is possible to detect the currents in coils 111-113, and may also be provided for each phase.
  • the voltage detection circuit 46 is connected between the coils 111-113 and the switching elements 411-413, and detects the terminal voltage of each phase.
  • the relay driver 48 controls the on/off operation of the motor relay 91.
  • the control unit 50 is mainly composed of a microcomputer and includes a CPU, ROM, RAM, I/O, and bus lines connecting these components (none of which are shown in the figure).
  • Each process in the control unit 50 may be software processing in which the CPU executes a program pre-stored in a physical memory device (i.e., a readable non-transitory tangible recording medium) such as a ROM, or it may be hardware processing using a dedicated electronic circuit.
  • the control unit 50 controls the switching of the shift range by controlling the drive of the motor 10 based on a shift signal corresponding to the driver's requested shift range, a signal from the brake switch, the accelerator opening, the vehicle speed, etc.
  • the control unit 50 has, as its functional blocks, a signal acquisition unit 51, an abnormality determination unit 52, and a drive control unit 55.
  • the signal acquisition unit 51 acquires detection signals from the encoder 13, the output shaft sensor 16, the current detection unit 45, the voltage detection circuit 46, and the like.
  • the abnormality determination unit 52 determines an abnormality in the shift-by-wire system 1, such as a disconnection abnormality.
  • the drive control unit 55 controls the driving of the motor 10 by controlling the on/off operation of the switching elements 411 to 413.
  • the motor 10 is driven by switching the current-carrying phase of the motor winding 11 through feedback control based on the encoder count value.
  • the control unit 50 stores a map in which the energized phase numbers correspond to energized phases, and rotates the motor 10 by shifting the energized phase number by 1 and switching the energized phase each time a pulse edge of the encoder signal is detected.
  • the energized phase number is increased by 1 each time a pulse edge of the encoder signal is detected, and when rotating the motor 10 in the reverse direction, the energized phase number is decreased by 1.
  • the energized phase number can also be regarded as the remainder when the encoder count value is divided by 12, for example.
  • the motor 10 is driven by energizing the two normal phases through feedback control, thereby switching the range. For example, when the U phase is broken, no torque is generated in energized phases 2 and 3, where only the U phase is energized under normal circumstances, but the motor 10 can continue to be driven by passing through this region due to inertia.
  • the opposing positional relationship between the salient poles 102 of the stator 101 and the convex portions 104 of the rotor 103 at the start of switching is set according to the broken phase and the rotational direction of the motor 10. If the U-phase is broken and the switching direction is forward, the range switching starts from the V-phase facing state, and if it is reverse, the range switching starts from the W-phase facing state. If the V-phase is broken and the switching direction is forward, the W-phase facing state, and if it is reverse, the range switching starts from the U-phase facing state. If the W-phase is broken and the switching direction is forward, the U-phase facing state, and if it is reverse, the range switching starts from the V-phase facing state. Below, an example in which the switching direction is forward when the U-phase is broken will be mainly explained.
  • range switching begins from a state in which the V-phase is energized and V-phase is facing.
  • the upper row shows the switching of energized phases
  • the lower row shows the motor torque corresponding to the energized phases in the upper row.
  • the W-phase is energized, followed by the WU-phase, U-phase, and UV-phase.
  • the W-phase when the U-phase is broken, current cannot be passed to the U-phase coil 111, so in the area where the WU-phase should be energized, the W-phase continues to be energized and the motor torque decreases, and in the area where the U-phase should be energized, the motor torque becomes zero. If this area is passed through by inertia, current is passed to the V-phase in the UV-phase energized area, increasing the motor torque, and the motor 10 continues to rotate.
  • the energized phase coils are shown with solid lines and the non-energized phase coils with dashed lines, and the broken state is shown by omitting the illustration of the U-phase coil 111.
  • the concave portion 105 of the rotor 103 and the V-phase salient pole 102 may face each other when the V-phase is applied, and in this state, driving cannot be started from the V-phase facing state.
  • the rotor 103 may rotate in the reverse direction, or the rotation speed may be insufficient in the area to be passed by inertia, making it impossible to pass through the open phase.
  • a pre-switching preparation process is performed to align the positions of the stator 101 and rotor 103 so that they are reliably in the opposing state shown in FIG. 6.
  • the pre-switching preparation process as shown in FIG. 9, one-phase current, two-phase current, and one-phase current are performed in sequence to ensure that the current-carrying phase at the start of switching is opposed in a one-phase, one-tooth state.
  • W-phase, VW-phase, and V-phase are energized as pre-switching preparations
  • V-phase, VW-phase, and W-phase are energized as pre-switching preparations
  • W-phase, WU-phase, and U-phase are energized as pre-switching preparations.
  • energization status ST1 the first 1-phase energization in the pre-switching preparations is referred to as energization status ST1
  • energization status ST2 the next 2-phase energization as energization status ST2
  • energization status ST3 the state in which 1-phase 1-tooth state is maintained with 1-phase energization to the energized phase at the start of switching as energization status ST3.
  • Figure 10 shows the pre-switching preparations for achieving the V-phase opposing state when the U-phase is broken.
  • W-phase current is applied so that the convex portion 104 faces the W-phase.
  • VW-phase current When current is switched from this state to VW-phase current, the rotor 103 rotates and the convex portion 104 faces the V-phase and W-phase, resulting in a so-called "two-phase, two-tooth" state.
  • the range switching process of this embodiment will be described with reference to the flowchart in FIG. 11. This process is executed by the control unit 50 at a predetermined cycle.
  • the control unit 50 determines whether or not a one-phase break has been detected. If it is determined that a one-phase break has not been detected (S101: NO), the process from S102 onwards is skipped. Note that the detection of a one-phase break is performed in a process separate from this embodiment, and is determined, for example, based on the detection value of the voltage detection circuit 46, but the details of the detection method are not important. Also, when all phases are normal, range switching is performed in a process separate from this process. If it is determined that a one-phase break has been detected (S101: YES), proceed to S102.
  • control unit 50 determines whether or not there is a request to switch the shift range. If it is determined that there is no request to switch (S102: NO), the process from S103 onwards is skipped and the standby mode continues. If it is determined that there is a request to switch (S102: YES), the process proceeds to S103.
  • the drive control unit 55 applies current in the current status ST1. For example, when the U phase is disconnected and the switching direction is forward, current is applied to the W phase.
  • the drive control unit 55 determines whether the current hold time Xh1 in the current status ST1 has elapsed. If it is determined that the current hold time Xh1 has not elapsed (S104: NO), the process returns to S103 and current is continued in the current status ST1. If it is determined that the current hold time Xh1 has elapsed (S104: YES), the process proceeds to S105.
  • the drive control unit 55 applies current in the current status ST2. For example, when the U phase is disconnected, two-phase current is applied to the VW phase, which is the normal phase, regardless of the switching direction.
  • the drive control unit 55 determines whether the current hold time Xh2 in the current status ST2 has elapsed. If it is determined that the current hold time Xh2 has not elapsed (S106: NO), the process returns to S105 and current is continued in the current status ST2. If it is determined that the current hold time Xh2 has elapsed (S106: YES), the process proceeds to S107.
  • the drive control unit 55 applies current in the current status ST3. For example, when the U-phase is disconnected and the switching direction is forward, current is applied to the V-phase.
  • the drive control unit 55 determines whether the current hold time Xh3 in the current status ST3 has elapsed. If it is determined that the current hold time Xh3 has not elapsed (S108: NO), the process returns to S107 and current is continued in the current status ST3. If it is determined that the current hold time Xh3 has elapsed (S108: YES), the process proceeds to S109 and the pre-switching preparation complete flag is turned on. The pre-switching preparation complete flag is turned off at any time after the start of range switching.
  • the drive control unit 55 drives the motor 10 from a one-phase, one-tooth opposing state at a predetermined position according to the broken phase and rotation direction, and performs range switching by feedback control in normal two phases.
  • the control unit 50 determines whether the range switching is complete. If it is determined that the range switching is not complete (S111: NO), the process returns to S109 and continues feedback control in normal two phases. If it is determined that the range switching is complete (S111: YES), the process transitions to standby mode and ends this process.
  • the horizontal axis represents a common time axis, and from the top, the motor control mode, one-phase breakage detection status, pre-switching preparation completion flag, motor rotation angle, and current phase are shown.
  • the motor rotation angle is a value that can be converted from the encoder count value, with the actual value shown as a solid line and the target value shown as a dashed line, with P representing when the detent roller 26 is at the bottom of the valley 211 and notP representing when it is at the bottom of the valley 212.
  • P representing when the detent roller 26 is at the bottom of the valley 211
  • notP representing when it is at the bottom of the valley 212.
  • pre-switching preparation processing is performed.
  • the energized phase is switched at predetermined time intervals in the order of energized status ST1, ST2, ST3.
  • the energized phases of energized status ST1, ST2, ST3 are set according to the broken phase and switching direction.
  • the energization status ST2 is two-phase energization
  • the rotor 103 is likely to stabilize, and the energization hold time Xh2 can be a relatively short time.
  • the pre-switch preparation completion flag is turned on, and range switching is performed with feedback control using the two normal phases.
  • stop control is performed.
  • the stop control in this embodiment is fixed phase current supply to the two normal phases.
  • the motor 10 when the motor 10 is driven by energizing the normal two phases when one phase is broken, the motor 10 is energized in the order of one phase, two phase, and one phase as pre-switching preparation processing before starting to drive. This allows the motor 10 to start driving from a one-phase, one-tooth state in which the convex portion 104 of the rotor 103 faces the energized phase at the start of switching.
  • the ECU 40 controls the driving of a motor having three-phase motor windings 11, and includes a drive circuit 41 and a control unit 50.
  • the drive circuit 41 has switching elements 411-413 that switch on and off the power supply to each phase of the motor windings 11.
  • the control unit 50 has a drive control unit 55 that controls the on/off operation of the switching elements 411-413 by feedback control based on the detection value of the encoder 13 that detects the rotational position of the motor 10, and an abnormality determination unit 52 that determines whether the motor windings 11 have an open circuit.
  • a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor 10 using the two normal phases
  • the drive control unit 55 performs pre-switching preparation processing to energize the energized phase after energizing it in a pattern different from the energization pattern to the energized phase that is the energized phase at the start of normal two-phase drive.
  • a wire breakage fault is a fault that prevents current from flowing through the coil, and includes a wire breakage in the harness and a switching element stuck off.
  • the rotor 103 By performing pre-switching preparation processing, the rotor 103 can be rotated to a position where the stator 101 and rotor 103 face each other and torque can be generated in normal two-phase drive. This allows the motor 10 to be driven appropriately when one phase is broken.
  • the drive control unit 55 switches the energized phase as a pre-energization preparation process in the order of energization status ST1, which is a first energization process in which energization is performed to phase 1 of the normal phases, energization status ST2, which is a second energization process in which energization is performed to phase 2 of the normal phases, and energization status ST3, which is a third energization process in which energization is performed to the energized holding phase of phase 1.
  • This allows the opposing positions of the stator 101 and rotor 103 to be appropriately aligned to a predetermined position.
  • the energized phase in the pre-switching preparation process is set according to the disconnection phase and the rotation direction of the motor 10, and the energized phase of the energized status ST1 is the phase that is energized before the disconnection phase in terms of the switching order of the energized phases. This allows the opposing positions of the stator 101 and the rotor 103 to be properly aligned.
  • Fig. 13 differs from Fig. 11 in that S120 is added between S106 and S107.
  • the control unit 50 sets the energization hold time Xh3 of the energization status ST3 according to the ambient temperature H.
  • the ambient temperature H is less than the first judgment threshold Hth1
  • the energization hold time is Xp.
  • the energization hold time is Xq.
  • the energization hold time is Xr.
  • the magnitude relationship of each value is Hth1 ⁇ Hth2, Xp ⁇ Xq ⁇ Xr.
  • the ambient temperature H is the environmental temperature of the motor 10, and may be the temperature of the motor 10 itself, or may be the temperature of other parts arranged near the motor 10, such as the oil temperature of the transmission.
  • the energization status ST13 is maintained in a one-phase, one-tooth state with one-phase energization.
  • the rotor 103 is likely to vibrate.
  • the ambient temperature H is low, friction is large and the rotor 103 is less likely to vibrate. Therefore, in this embodiment, the lower the ambient temperature H, the shorter the energization hold time Xh3 in the energization status ST3 can be, thereby improving responsiveness.
  • the energization hold time Xh3 is set to three stages using two judgment thresholds Hth1 and Hth2, but the judgment threshold may be 1 or more, and the number of stages does not matter.
  • the energization hold time Xh3 may be set by calculation using a map or function according to the ambient temperature H. Furthermore, similar to the energization status ST3, the energization hold time Xh1 of the energization status ST1, which is one-phase energization, may also be variable according to the ambient temperature H.
  • the energization time in the pre-switching preparation process is variable depending on the motor temperature.
  • the lower the motor temperature the shorter the energization time of energization status ST3 is set. This allows the energization time to be set appropriately depending on the motor temperature, which contributes to improving responsiveness especially at low temperatures. It also provides the same effects as the above embodiment.
  • the control unit 50 determines whether the amplitude A1 is equal to or less than the amplitude determination threshold Ath1.
  • the amplitude A1 is, for example, the difference between the maximum and minimum values of the n encoder count values prior to the current holding time Xh1 having elapsed. The details of the calculation of the amplitude A1 are not important.
  • the amplitude determination threshold Ath1 is set to a value at which the rotor 103 can be considered to be held in a one-phase, one-tooth state. The same applies to the amplitude A3 and amplitude determination threshold Ath3 described below.
  • the amplitude determination thresholds Ath1 and Ath3 may be the same or different.
  • the process proceeds to S207, and energization begins in energization status ST2. If it is determined that the amplitude A1 is greater than the amplitude judgment threshold Ath1 (S205: NO), the process proceeds to S206, and energization in energization status ST1 is extended by a predetermined time Xa. Thereafter, the process proceeds to S207, and energization begins in energization status ST2.
  • the processes of S207 to S210 are the same as those of S105 to S108.
  • the control unit 50 determines whether the amplitude A3 is equal to or less than the amplitude determination threshold Ath3. If it is determined that the amplitude A3 is equal to or less than the amplitude determination threshold Ath3 (S211: YES), the control unit 50 proceeds to S213 and performs range switching in normal two phases. If it is determined that the amplitude A3 is greater than the amplitude determination threshold Ath3 (S211: NO), the control unit 50 proceeds to S211 and extends current flow in current status ST3 by a predetermined time Xc. The extension times for current status ST1 and ST3 may be the same or different.
  • the processes in S213 to S215 are similar to the processes in S109 to S111 in FIG. 11.
  • the range switching process of this embodiment will be explained based on the time chart in FIG. 15.
  • the amplitude determination thresholds Ath1 and Ath3 are explained as being equal.
  • the vibration component with one phase current is emphasized.
  • the process from time x10 to x12 is the same as the process from time x0 to x2 in FIG. 12.
  • the rotor 103 vibrates due to one-phase current flow in the current flow status ST1, but because the amplitude A1 at time x13 after the current flow holding time Xh1 has elapsed is equal to or less than the amplitude determination threshold Ath1, the current flow status ST1 is not extended and is switched to current flow status ST2. In current flow status ST2, two-phase current flow occurs, so the vibration of the rotor 103 is relatively small.
  • the energization time is extended. This makes it possible to improve the accuracy of holding the opposing positions in one-phase energization, where the opposing state between the stator 101 and rotor 103 is more likely to be unstable compared to two-phase energization. It also provides the same effects as the above embodiment.
  • FIG. 16 differs from Fig. 14 in that S231 and S232 are replaced with S206, and S233 and S234 are replaced with S212.
  • S205 which is performed after the energization hold time Xh1 has elapsed in the energization status ST1, if it is determined that the amplitude A1 is greater than the amplitude determination threshold Ath1 (S205: NO), the energization status ST1 is extended in S231.
  • the control unit 50 determines whether the timeout time Xout1 has elapsed since the start of the extension of the power-on status ST1. If it is determined that the timeout time has not elapsed (S232: NO), the extension of the power-on status ST1 continues and the process returns to S205. If it is determined that the timeout time Xout1 has elapsed (S232: YES), the process proceeds to S207 and the power-on state is switched to the power-on status ST2.
  • control unit 50 determines whether the timeout time Xout3 has elapsed since the start of the extension of the power-on status ST3. If it is determined that the timeout time Xout3 has not elapsed (S234: NO), the extension of the power-on status ST3 continues and the process returns to S205. If it is determined that the timeout time Xout3 has elapsed (S234: YES), the process proceeds to S213.
  • Figure 17 shows a case where the vibration subsides before the timeout period Xout3.
  • the process from time x20 to time x25 is the same as the process from time x10 to time x15 in Figure 15.
  • the amplitude A3 is greater than the amplitude determination threshold Ath3, so the current flow in the current flow status ST3 is extended.
  • the processing from time x26 onwards is the same as in the example above.
  • FIG. 18 shows a case where the vibration does not converge within the timeout period Xout3.
  • the processing from time x30 to time x35 is the same as the processing from time x10 to time x15 in FIG. 15.
  • the amplitude A3 is greater than the amplitude determination threshold Ath3, so the current flow in the current flow status ST3 is extended.
  • time x36 when the timeout time Xout3 has elapsed since time x35, which is the start time of the power-on status ST3, the amplitude A3 continues to be greater than the amplitude determination threshold Ath3, but the pre-switch preparation flag is turned on as a timeout, and range switching is performed in normal two phases.
  • the processing from time x36 onwards is the same as in the example above.
  • the current status ST3 just before the pre-switching preparation is complete is one-phase current, so the rotor 103 is prone to vibration and the opposing position is difficult to determine. Therefore, if the timeout period Xout3 has elapsed, even if the vibration has not subsided, it is assumed that the rotor 103 has completed moving to the specified opposing position, and pre-switching preparation is completed. This allows the range switching to begin appropriately.
  • the drive control unit 55 transitions to the next current flow process when the timeout times Xout1 and Xout3 have elapsed since the start of the extension of current flow.
  • the drive control unit 55 transitions to current flow status ST2
  • the timeout time Xout3 has elapsed in current flow status ST3
  • the drive control unit 55 initiates range switching in normal two-phase drive. This allows the drive control unit 55 to appropriately switch to the next current flow process even if vibrations do not subside with one-phase current flow. It also provides the same effects as the above embodiment.
  • FIG. 19 A fifth embodiment is shown in Fig. 19 to Fig. 22.
  • a retry is performed.
  • the range switching process of this embodiment will be described with reference to the flowchart of Fig. 19.
  • S301 and S302 are the same as those of S101 and S102 in FIG. 11. If it is determined that a switch request has been made (S302: YES), the process proceeds to S303, where a retry flag, which will be described later, is turned off.
  • S304 to S306 is the same as the processing of S203 to S205 in FIG. 14. If it is determined that the amplitude A1 is equal to or less than the amplitude judgment threshold Ath1 (S306: YES), the process proceeds to S308. If it is determined that the amplitude A1 is greater than the amplitude judgment threshold Ath1 (S306: NO), the process proceeds to S307, and the retry flag is turned on.
  • S308 to S312 is the same as the processing of S207 to S211 in FIG. 14. If it is determined that the amplitude A3 is greater than the amplitude judgment threshold Ath3 (S312: NO), the process proceeds to S314, where the retry flag is turned on. If it is already on, the state is maintained. If it is determined that the amplitude A3 is equal to or less than the amplitude judgment threshold Ath3 (S312: YES), the process proceeds to S313.
  • the control unit 50 determines whether or not a voltage drop has occurred between the start of current flow in the current flow status ST1 and the end of current flow in the current flow status ST3, causing the motor voltage Vm to fall below the voltage determination threshold Vth. Instead of a voltage drop, the control unit 50 may determine whether or not a current drop has occurred, causing the motor current Im to fall below the current determination threshold Ith. If it is determined that no voltage drop has occurred (S313: NO), the process proceeds to S315. If it is determined that a voltage drop has occurred (S313: YES), the process proceeds to S314, where the retry flag is turned on. Note that, for the sake of explanation, the control unit 50 determines whether or not a voltage drop has occurred after the end of current flow status ST3, but the control unit 50 may also perform voltage monitoring separately from this process and turn on the retry flag when a voltage drop occurs.
  • control unit 50 determines whether the retry flag is on. If it is determined that the retry flag is off (S315: NO), the control unit 50 proceeds to S319. If it is determined that the retry flag is on (S315: YES), the control unit 50 proceeds to S316 and increments the retry counter Cr.
  • the control unit 50 determines whether the retry counter Cr is smaller than the count determination threshold Cth. If it is determined that the retry counter Cr is smaller than the count determination threshold Cth (S317: YES), the process returns to S303, the retry flag is turned off, and pre-switch preparation is retried. If it is determined that the retry counter Cr is equal to or greater than the count determination threshold Cth (S317: NO), the process proceeds to S318.
  • control unit 50 determines whether the input switching request is to switch from P range to not P range. If it is determined that the request is to switch from P range to not P range (S303: YES), the processing from S319 onwards is skipped. If it is determined that the request is to switch from not P range to P range (S318: NO), the process proceeds to S319, where the retry flag is turned off and the pre-switch preparation completion flag is turned on.
  • the processing of S320 and S321 is the same as the processing of S110 and S111 in FIG. 11.
  • the state in which the retry flag is set can be considered as a state in which the retry condition is met.
  • S318 may be omitted, and normal two-phase drive may be performed after a predetermined number of retries regardless of the range switching direction.
  • Figure 20 shows an example of a case where a voltage drop occurs during pre-switching preparation processing, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection status, pre-switching preparation completion flag, retry flag, retry counter, motor voltage, and current-carrying phase.
  • Figure 22 shows an example of a case where a voltage drop occurs during pre-switching preparation processing, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection status, pre-switching preparation completion flag, retry flag, retry counter, motor voltage, and current-carrying phase.
  • Figure 22 shows an example of a case where a voltage drop occurs during pre-switching preparation processing, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection status, pre-switching preparation completion flag, retry flag, retry counter, motor voltage, and current-
  • the processing from time x40 to time x42 is the same as the processing from time x0 to time x2 in FIG. 12.
  • the retry flag is turned on.
  • the retry flag is on, so the pre-switch preparation process is retried.
  • the retry flag is turned off and the retry counter is incremented. From time x44 to time x45, power is again applied with the power-on statuses ST1 to ST3.
  • the retry counter is reset at any timing after the start of range switching. In FIG. 20, the retry counter is reset when the pre-switching preparation complete flag is turned off, but it may be reset at a different timing.
  • FIG. 21 shows an example of a case where the vibration at the energization status ST3 has not converged, with a common time axis as the horizontal axis, and from the top, motor control, one-phase breakage detection state, pre-switching preparation completion flag, retry flag, retry counter, rotation angle sensor, and energized phase.
  • the processing from time x50 to time x52 is the same as the processing from time x0 to time x2 in FIG. 12.
  • the amplitude A3 is greater than the amplitude judgment threshold Ath3, so the retry flag is turned on and the pre-switching preparation process is retried at time x54.
  • the retry flag is turned off and the retry counter is incremented. Note that for the sake of explanation, time x53 is shifted to the left side of the page in FIG. 21.
  • the amplitude A1 after the energization status ST1 ends is less than or equal to the amplitude judgment threshold Ath1, but if the amplitude A1 is greater than the amplitude judgment threshold Ath1, the retry flag is set when the energization status ST1 ends.
  • FIG. 22 shows an example of a case where a voltage drop occurs even after a retry.
  • the range is switched from not P to P.
  • the processing from time x60 to time x64 is the same as the processing from time x40 to time x44 in FIG. 20.
  • the retry flag is turned on.
  • the retry flag is on, so the retry flag is turned off and the retry counter is incremented.
  • the count determination threshold Cth is 2, a second retry is not performed, the pre-switch preparation completion flag is turned on, and range switching is performed in normal two phases.
  • the processing after time x66 is substantially the same as the processing after time x3 in FIG. 12.
  • the pre-switching preparation process is retried. Furthermore, if the vibration does not converge in the energization status ST1, when the energization status is switched to ST2 or ST3, there is a risk that the opposing state will not change to two phases, two teeth, or one phase, one tooth, for example, because the recesses will be opposed, and so the pre-switching preparation is retried.
  • the pre-switching preparation process is retried. This makes it possible to start range switching in a normal two-phase opposing state.
  • the pre-switching preparation process is performed again.
  • the control unit 50 determines that the retry condition is met if the amplitudes A1, A3 of the motor rotation angle when the current hold times Xh1, Xh3 have elapsed are greater than the amplitude judgment thresholds Ath1, Ath3 in at least one of the current-on status ST1 and current-on status ST3.
  • the control unit 50 also determines that the retry condition is met if the motor voltage Vm or motor current Im becomes smaller than the judgment threshold during pre-start switching preparation. This can improve the accuracy of the pre-switching preparation process.
  • the drive control unit 55 starts normal two-phase drive. This makes it possible to start driving the motor 10 even when there is a large amount of vibration.
  • the ECU 40 is applied to a shift-by-wire system, and when the number of retries is equal to or greater than the number of judged retries and the retry condition is met, it allows switching from a range other than the P range to the P range by normal two-phase drive, and prohibits switching from the P range to a range other than the P range. This allows the shift range to be switched appropriately, and also provides the same effects as the above embodiment.
  • Sixth Embodiment 23 to 27 show the sixth embodiment.
  • a pre-switching preparation process is performed.
  • the pre-switching preparation process is performed in advance before a range switching request is made.
  • the startup process of this embodiment will be described with reference to the flowchart in FIG. 23.
  • This process is executed when a vehicle start switch, such as an ignition switch, is turned on.
  • the control unit 50 determines whether or not the initial drive has been completed.
  • the initial drive process is a current application process for matching the relative positions of the encoder 13 and the rotor 103. If it is determined that the initial drive has not been completed (S401: NO), this determination process is repeated. If it is determined that the initial drive has been completed (S401: YES), the process proceeds to S402.
  • S402 is the same as the process of S101 in FIG. 11. If it is determined that a single-phase break has not been detected (S402: NO), the subsequent processes are skipped. If it is determined that a single-phase break has been detected (S402: YES), the process proceeds to S403.
  • S403 to S408 are pre-switching preparation processes similar to S103 to S108 in FIG. 11.
  • the control unit 50 turns on the pre-switching preparation completion flag in S409, transitions to standby mode in S410, and ends this process.
  • the encoder count value when the pre-switching preparation process is completed is stored as an initial value ENi in a storage unit such as a RAM (not shown).
  • S501 and S502 are the same as the processes of S101 and S102 in FIG. 11. If it is determined that there is a switching request (S502: YES), the process proceeds to S505, and if it is determined that there is no switching request (S502: NO), the process proceeds to S503.
  • the control unit 50 determines whether the amount of rotation ⁇ EN, which is the difference between the current encoder count value EN and the initial value ENi, is 0. If it is determined that the amount of rotation ⁇ EN is 0 (S503: YES), that is, if the rotor 103 has not moved since the pre-switching preparation process was completed, the subsequent processes are skipped. If it is determined that the amount of rotation ⁇ EN is not 0 (S503: NO), that is, if the rotor 103 has moved since the pre-switching preparation was completed, the process proceeds to S504 and the pre-switching preparation completion flag is turned off.
  • control unit 50 proceeds to S505, where it determines whether the pre-switching preparation complete flag is on or not. If it is determined that the pre-switching preparation complete flag is on (S505: YES), it proceeds to S516. If it is determined that the pre-switching preparation complete flag is off (S505: NO), it proceeds to S506.
  • the control unit 50 determines whether the rotation amount ⁇ EN is smaller than the rotation amount determination threshold ENth.
  • the rotation amount determination threshold ENth is a value corresponding to the rotation amount when one current-carrying phase is switched, and is, for example, two counts of the encoder count value. If it is determined that the rotation amount ⁇ EN is smaller than the rotation amount determination threshold ENth (S507: YES), the process proceeds to S507. If it is determined that the rotation amount ⁇ EN is equal to or greater than the rotation amount determination threshold ENth (S507: NO), the process proceeds to S509.
  • S508 and S509 are the same as those of S107 and S108 in FIG. 11, and power is supplied in the power status ST3 for the power supply holding time Xh3. If it is determined in the power supply status ST3 that the power supply holding time Xh3 has elapsed (S508: YES), the process proceeds to S515.
  • the processing of S509 to S514 is the same as the processing of S103 to S108 in FIG. 11. If the rotation amount ⁇ EN is equal to or greater than the rotation amount determination threshold ENth, the pre-switch preparation processing is performed by switching the current status to ST1, ST2, and ST3. If it is determined in the current status ST3 that the current hold time Xh3 has elapsed (S514: YES), the process proceeds to S515.
  • S515 to S517 is the same as the processing of S109 to S111 in FIG. 11, and range switching is performed in normal two phases. If it is determined that range switching is complete (S517: YES), the process proceeds to S518 and pre-switch preparation processing is performed.
  • pre-switch preparation processing is performed by switching the current status between ST1, ST2, and ST3, as in S509 to S515. After the current hold time Xh3 has elapsed in current status ST3, the pre-switch preparation completion flag is turned on and the standby mode is entered in S519.
  • the encoder count value EN at the time pre-switch preparation completion is completed is retained as the initial value ENi.
  • the rotor 103 is not moving during standby, and the pre-switch preparation complete flag remains on.
  • the pre-switch preparation complete flag is on, so range switching is performed from this state using feedback control using normal two phases.
  • stop control is performed.
  • pre-switch preparation processing is performed in preparation for the next range switching. Since the rotation direction will be reversed in the next range switching, if there is a break in the U phase, current is applied in the order of V phase ⁇ VW phase ⁇ W phase.
  • the pre-switch preparation complete flag is turned on and the mode transitions to standby mode.
  • the processing from time x80 to time x83 is the same as the processing from time x70 to time x73 in FIG. 25.
  • the pre-switching preparation completion flag is turned off.
  • the pre-switch preparation completion flag is off, so pre-switch preparation processing is performed again.
  • the rotation amount ⁇ EN from pre-switch preparation completion is smaller than the rotation amount determination threshold ENth, so as pre-switch preparation processing, V-phase current is applied if only the current flow status ST3 is present, i.e., forward rotation with U-phase disconnection.
  • the pre-switch preparation completion flag is turned on and range switching is performed with feedback control using the two normal phases.
  • the process after time x86 is the same as the process after time x74 in FIG. 25.
  • the processing from time x90 to time x93 is the same as the processing from x70 to x73 in FIG. 25.
  • the pre-switching preparation completion flag is turned off.
  • the pre-switch preparation completion flag is off, so the pre-switch preparation process is performed again.
  • the rotation amount ⁇ EN from the pre-switch preparation completion is equal to or greater than the rotation amount determination threshold ENth, so the energized phases are switched in the order of energization status ST1, ST2, ST3, as in the pre-switch preparation process from time x92 to time x93, etc.
  • the pre-switch preparation completion flag is turned on and range switching is performed with feedback control using the two normal phases.
  • the process after time x96 is the same as the process after time x74 in FIG. 25.
  • the time required for range switching can be reduced compared to when pre-switch preparation processing is performed after a shift request.
  • pre-switch preparation processing is performed in advance, there is a risk that the rotor 103 may move due to vibration or the like before a shift range switching request is input, which may change the opposing state between the stator 101 and the rotor 103. Therefore, if the rotor 103 moves after the pre-switch preparation processing is completed, the pre-switch preparation processing is performed again before the range switching.
  • the time required for the pre-switching preparation process can be shortened by performing the pre-switching preparation process only with the energizing status ST3, compared to when energizing is performed from the energizing status ST1. Also, if the amount of rotation ⁇ EN of the rotor 103 is equal to or greater than the rotation amount determination threshold ENTh, it is possible to start range switching from a specified opposing state by energizing the energizing statuses ST1 to ST3.
  • the response time is the time from the input of the shift range switching request to the start of stop control, the response time when the rotor 103 does not move from the completion of pre-switching preparation to the input of the shift range switching request is Xr1, the response time when the rotation amount ⁇ EN until the input of the shift range switching request is smaller than the rotation amount determination threshold ENth is Xr2, and the response time when the rotation amount ⁇ EN until the input of the shift range switching request is equal to or greater than the rotation amount determination threshold ENth is Xr3, where Xr1 ⁇ Xr2 ⁇ Xr3.
  • the drive control unit 55 when a wire breakage fault occurs in one of the three phases and normal two-phase drive is performed to drive the motor using the two normal phases, the drive control unit 55 performs pre-switching preparation processing to energize the energized phase after energizing it in a different energization pattern from the energization to the energized phase at the start of normal two-phase drive at least one of the time of system startup and after control to stop the motor 10. This allows for improved responsiveness compared to when pre-switching preparation processing is performed at the start of starting the motor 10.
  • the pre-switching preparation process is performed again, and then normal two-phase drive is performed.
  • the rotor 103 moves due to vibration or the like between the completion of the pre-switching preparation process and the start of the motor's drive, the pre-switching preparation process is performed again, making it possible to start normal two-phase drive from the appropriate opposing state.
  • the amount of rotation ⁇ EN of the motor 10 from the completion of the pre-switching preparation process to the start of driving the motor 10 is smaller than the rotation amount judgment threshold ENth, energization to phases other than the energized phase is omitted in the pre-switching preparation process before the start of motor driving. This makes it possible to shorten the pre-switching preparation process time before the start of motor driving. Also, the same effects as the above embodiment are achieved.
  • the encoder 13 corresponds to the "rotational position sensor”
  • the encoder count value corresponds to the "detection value of the rotational position sensor”
  • the ECU 40 corresponds to the "motor control device”.
  • the pre-switching preparation process corresponds to the "pre-start preparation process”
  • the energization status ST1 corresponds to the "first energization process”
  • the energization status ST2 corresponds to the "second energization process”
  • the energization status ST3 corresponds to the "third energization process”
  • the energization phase in the energization status ST3 corresponds to the "energization retention phase”.
  • each embodiment can be implemented in an appropriate combination, for example, by varying the power retention time according to the ambient temperature regardless of the timing of the pre-switching preparation process, by extending the power status before performing a retry, and by allowing P-in and prohibiting P-out if a timeout occurs.
  • the pre-energization preparation process switches the energized phase in the order of energization status ST1, ST2, and ST3. In other embodiments, one of the energization statuses ST1 and ST2 may be omitted.
  • the rotation detection unit is an encoder. In other embodiments, a sensor capable of detecting the rotation position other than an encoder, such as a resolver, may be used.
  • the motor is a switched reluctance motor. In other embodiments, the motor may be other than a switched reluctance motor, such as a DC brushless motor. The number of phases of the motor windings may be four or more.
  • the detent plate has two valleys.
  • the number of valleys is not limited to two, and for example, four valleys corresponding to the P, R, N, and D ranges may be formed.
  • the detent mechanism and parking lock mechanism may be different from those in the above embodiment.
  • the motor control device is applied to a shift-by-wire system.
  • the motor control device may be applied to an in-vehicle system other than a shift-by-wire system, or a motor drive system other than an in-vehicle system.
  • the present disclosure may be, for example, "a motor control device according to any one of items 1 to 5, in which the power supply time in the pre-start preparation process is variable depending on the temperature of the motor.”
  • control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program.
  • control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits.
  • control unit and the method described in the present disclosure may be realized by one or more dedicated computers configured by combining a processor and a memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits.
  • the computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by a computer. As described above, the present disclosure is not limited to the above embodiments, and can be implemented in various forms within the scope of its purpose.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Un dispositif de commande de moteur (40) commande l'entraînement d'un moteur (10) ayant des enroulements de moteur triphasé (11) et comprend un circuit d'attaque (41) et une unité de commande (50). Le circuit d'attaque (41) comporte des éléments de commutation (411 à 413) qui commutent la mise sous tension/hors tension de chaque phase des enroulements de moteur (11). L'unité de commande (50) comprend : une unité de commande d'entraînement (55) qui commande le fonctionnement marche/arrêt des éléments de commutation (411 à 413) par une commande de rétroaction sur la base de la valeur de détection d'un capteur de position de rotation (13) ; et une unité de détermination d'anomalie (52) qui détermine une défaillance de déconnexion des enroulements de moteur (11). Lors de la réalisation d'un entraînement à 2 phases normal pour entraîner le moteur (10) à l'aide de 2 phases normales lorsque la défaillance de déconnexion se produit dans une phase des 3 phases, l'unité de commande d'entraînement (55) effectue un traitement de préparation de pré-démarrage pour effectuer une excitation avec un motif différent d'un motif d'excitation à une phase de maintien d'excitation qui est une phase d'excitation au démarrage de l'entraînement à 2 phases normal, puis exciter la phase de maintien d'excitation.
PCT/JP2023/031704 2022-09-28 2023-08-31 Dispositif de commande de moteur WO2024070464A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016158413A (ja) * 2015-02-25 2016-09-01 株式会社デンソー モータ制御装置
JP2022024256A (ja) * 2020-07-13 2022-02-09 株式会社ジェイテクト 操舵制御装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016158413A (ja) * 2015-02-25 2016-09-01 株式会社デンソー モータ制御装置
JP2022024256A (ja) * 2020-07-13 2022-02-09 株式会社ジェイテクト 操舵制御装置

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