Motor control device and electric power steering device equipped with the same
A control device and motor technology, applied in motor control, motor generator control, AC motor control, etc., can solve problems such as uncontrollable system robustness, improve the performance of operating sound and torque fluctuation, improve responsiveness, and improve motion The effect of sound and torque ripple performance
Inactive Publication Date: 2017-09-05
NSK LTD
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Problems solved by technology
In addition, the device disclosed in Patent Document 2 has the following problems: Since the disturbance estimated by the disturbance monitor includes current detection disturbance that does not become the actual motor current, and the estimated current follows a value including the current detection disturbance, the current detection disturbance There is no way to make the control system as a whole robust
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[0050] First, an adaptive current monitor that is a premise of the present invention will be described.
[0051] in correspondence figure 2 represented by Figure 7 In the example of , the adaptive current monitor includes an adaptive identification unit 130 , a current estimation unit 140 , a voltage command value determination unit 150 , and a PWM control unit 160 .
[0052] The adaptive identification unit 130 inputs the current detection value i(t) detected by the current detector 120, the current estimated value i_hat(t) estimated by the current estimation unit 140, the voltage command value Um(t) and the dead time compensation value Dt (t), based on the adaptive identification method, the parameter changes of the motor output model are identified. Thereby, the influence of the change of the electrical characteristic parameter of a motor by a temperature change, a manufacturing variation, deterioration over time, etc. is eliminated, and the current estimation accuracy ...
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The present invention provides a motor control device and an electric power steering device equipped with the motor control device. The motor control device of the present invention includes a current detection circuit that detects the current of the motor as a current detection value, a drive control unit based on a voltage command value determined based on at least a current command value, and rotation detection means. The duty cycle is used to drive and control the motor. The rotation detection means detects the angle and angular velocity of the motor; it has an adaptive current monitor, an adaptive identification and diagnosis unit and a current state detection unit that cannot be detected. The adaptive current monitor identifies the output of the motor. Each parameter of the model is changed, and the current estimated value of the motor is calculated and used for the calculation of the voltage command value. The adaptive identification and diagnosis unit diagnoses the misestimation of the current estimated value from the adaptive current monitor. The undetectable current state of detecting the current detection value; the adaptive identification and diagnosis unit diagnoses the misestimation of the current estimation value based on the current estimated value, the current detection value, the angle and the undetectable current state, and controls the duty cycle based on the diagnosis result.
Description
technical field [0001] The present invention relates to a motor control device and an electric power steering device equipped with the motor control device. The motor control device includes an adaptive current monitor for estimating the current of a motor, and simultaneously diagnoses (monitors) misestimation of the adaptive current monitor, When an abnormality is detected, the duty ratio (Duty) is limited to forcibly set to a state where the current can be detected, and it switches to current control using the detected current. Background technique [0002] The electric power steering device that uses the rotational force of the motor to assist in controlling the steering system of the vehicle applies the driving force of the motor to the steering shaft or rack shaft through a transmission mechanism such as a gear or a belt through a reducer. Furthermore, an inverter is used in a motor drive circuit in order to supply electric current to a motor so that the motor can gener...
Claims
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IPC IPC(8): H02P27/06B62D5/04H02P29/00B62D6/00B62D101/00B62D119/00H02P21/00H02P21/13H02P21/14H02P21/22H02P23/12H02P23/14H02P27/08
CPCB62D5/0484B62D5/049H02M7/5395H02P29/0241H02M1/0009H02P6/10B60T8/1755
Inventor 星让坂口徹中山幸雄前田将宏森坚吏今村洋介
Owner NSK LTD