Motor control device

Abstract

A motor control device includes a plurality of control units corresponding to a plurality of windings (14, 15) provided in a motor (12). The plurality of control units includes a master control unit (20), a slave control unit (30), and at least one abnormality monitoring unit (53, 62, 64). The slave control unit (30) is configured to, after the abnormality monitoring unit (53, 62, 64) detects a communication abnormality between the control units, before determining the communication abnormality, generate a power supply control command value using information acquired through a path other than communication between the control units and maintained in a normal state in which the communication abnormality between the control units is not detected for controlling power supply to the windings (14, 15), and perform backup control for maintaining the power supply control command value.

Description

Technical Field

[0001] This invention relates to motor control devices. Background Technology

[0002] A control device is known for controlling the operation of a motor that is a source of auxiliary torque applied to the steering mechanism of a vehicle. For example, the control device described in WO 2018 / 088465 controls the power supply to windings of two systems. The control device includes two control units corresponding to the windings of the two systems.

[0003] The control device described in WO 2018 / 088465 controls the power supply to the windings of two systems under the control of the control units, based on various types of information acquired through communication between the control units. In this case, to address communication anomalies between control units due to factors such as disconnection of communication lines or bit corruption of signals caused by noise superposition, the control units retain the values ​​acquired from other control units via communication as hold values ​​when no communication anomaly is detected. The control units perform control using the hold values ​​until a communication anomaly is detected and actually determined, thereby preventing control using erroneous information from being executed. Summary of the Invention

[0004] In the control apparatus described in WO 2018 / 088465, it is necessary to provide a dedicated storage area so that the held value is not overwritten when updated due to a communication anomaly between the control units, and is held using the anomaly details, before the held value is acquired in response to a communication anomaly between the control units.

[0005] The present invention provides a motor control device that can reduce the scale of changes required to add components to address communication anomalies between control units.

[0006] According to one aspect of the invention, a motor control device includes: a plurality of control units corresponding to a plurality of windings disposed in a motor. The motor control device is configured to control the power supply to the windings under the control of the plurality of control units based on various types of information acquired through communication between the plurality of control units. The plurality of control units include: a master control unit configured to generate a power supply control command value for controlling the motor torque generated by the motor, as control information required to control the power supply to the windings; and a slave control unit configured to update the power supply control command value generated by the master control unit when it is acquired through communication between the control units, and to control the power supply to the corresponding winding based on the latest power supply control command value. The plurality of control units include: at least one anomaly monitoring unit configured to detect anomalies in the communication between the control units and to monitor a series of states until an anomaly is determined when predetermined conditions are met after the anomaly is detected. The control unit is configured to: after the anomaly monitoring unit detects a communication anomaly between the control units but before determining the communication anomaly, generate a power supply control command value using the following information instead of the power supply control command value updated whenever the power supply control command value is acquired via communication between the control units, the information being acquired through a path other than communication between the control units and being maintained in a normal state where no communication anomaly between the control units is detected for controlling the power supply to the winding; and perform backup control for maintaining the power supply control command value.

[0007] According to this aspect, since the power supply control command value used for backup control performed by the slave control unit is generated by the slave control unit using information obtained through paths other than communication between control units, the probability of anomalies due to communication anomalies between control units is low, even if a communication anomaly is detected. That is, even if a communication anomaly between control units is detected and the information obtained by the slave control unit through paths other than communication between control units is updated and rewritten, the information will not cause problems. Therefore, apart from the storage area used to ensure information during normal operation, it is not necessary to provide a separate dedicated storage area for isolating information, etc., before the information used to generate the power supply control command value when performing backup control by the slave control unit is secured. Therefore, the scale of changes required to add components to cope with communication anomalies between control units can be reduced.

[0008] In this respect, the control unit can be configured to use the actual current value, which is the value of the current flowing in the corresponding winding, as information held in the state of normal communication between the control units for controlling the power supply to the winding after the abnormality monitoring unit detects a communication abnormality between the control units but before determining the communication abnormality.

[0009] With this configuration, when the slave control unit is switched to perform backup control, sudden changes in the power supply to the winding corresponding to the slave control unit can be suppressed, as well as sudden changes in motor torque.

[0010] In this respect, the control unit can be configured to use a zero value as information for controlling the power supply to the winding, after the abnormality monitoring unit detects a communication abnormality between the control units but before determining the communication abnormality.

[0011] With this configuration, when backup control is performed from the control unit, the power supply to the winding corresponding to the control unit can be stopped, and abnormal motor torque can be prevented.

[0012] In this situation, abnormal motor torque can be prevented, but insufficient motor torque may occur. In this regard, the main control unit can be configured to control the anomaly monitoring unit, such that when the slave control unit performs backup control after the anomaly monitoring unit detects a communication anomaly between control units but before determining the communication anomaly, the amount of power supplied to the corresponding winding is increased compared to the state where communication between control units is normal using power supply control command values.

[0013] With this configuration, it is possible to prevent abnormal motor torque and suppress insufficient motor torque, assuming that power supply to the winding corresponding to the slave control unit is stopped when backup control is performed by the slave control unit.

[0014] In this respect, the slave control unit can be configured to generate a slave-side power supply control command value using the same method as in the master control unit when the anomaly monitoring unit determines that the communication between the control units is in a normal state, as information corresponding to the power supply control command value generated in the master control unit, and the slave control unit can be configured to use the slave-side power supply control command value as information held for controlling the power supply to the winding in a normal communication state after the anomaly monitoring unit detects an anomaly in the communication between the control units but before determining the communication anomaly.

[0015] With this configuration, when the slave control unit is switched to perform backup control, sudden changes in the power supplied to the winding corresponding to the slave control unit can be suppressed, as well as sudden changes in motor torque.

[0016] In this respect, the power supply control command value may include a current command value for feedback control of an actual current value, and a torque command value generated by the main control unit to generate the current command value, wherein the actual current value is the current value flowing in the winding due to the power supply. In this respect, the power supply control command value may be a torque command value for generating the current command value for feedback control of the actual current value, wherein the actual current value is the current value flowing in the winding due to the power supply. In this respect, the power supply control command value may be a current command value for feedback control of the actual current value, wherein the actual current value is the current value flowing in the winding due to the power supply.

[0017] By utilizing a motor control device based on this aspect, the scale of changes required to add components to address communication anomalies between control units can be reduced. Attached Figure Description

[0018] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, wherein the same reference numerals denote the same elements, and in the drawings:

[0019] Figure 1 This is a schematic diagram showing the configuration of the motor control device.

[0020] Figure 2 This is a block diagram illustrating the function of the microcomputer in the motor control device according to the first embodiment;

[0021] Figure 3 This is a block diagram illustrating the functions of the microcomputer according to the second embodiment;

[0022] Figure 4 This is a block diagram illustrating the functions of a microcomputer according to a third embodiment;

[0023] Figure 5 This is a block diagram illustrating the functions of a microcomputer according to a fourth embodiment; and

[0024] Figure 6 This is a block diagram showing a protection processing unit that serves as a functional unit of a second microcomputer according to a fifth embodiment. Detailed Implementation

[0025] First Implementation Method

[0026] In the following description, a motor control device according to a first embodiment will be described with reference to the accompanying drawings. Figure 1 As shown, the motor control device 11 controls the operation of the motor 12. The motor control device 11 is, for example, a control unit that applies motor torque to the vehicle's steering mechanism and performs power steering control for assisting the driver's steering operations by controlling the operation of the motor 12.

[0027] Motor 12 is a three-phase brushless motor. Motor 12 includes a rotor 13, a first winding group 14, a second winding group 15, a first rotation angle sensor 16, and a second rotation angle sensor 17. Each of the first winding group 14 and the second winding group 15 includes a U-phase coil, a V-phase coil, and a W-phase coil. The first rotation angle sensor 16 and the second rotation angle sensor 17 detect the rotation angles θm1 and θm2 of the rotor 13 of motor 12.

[0028] The motor control device 11 and the motor 12, namely the first winding group 14 and the second winding group 15, are connected to each other via busbars or cables. The motor control device 11 controls the power supply to the first winding group 14 and the second winding group 15 of each system. The motor control device 11 includes: a main control unit 20, which is a first control unit configured to control the power supply to the first winding group 14; and a slave control unit 30, which is a second control unit configured to control the power supply to the second winding group 15.

[0029] The main control unit 20 includes: a first microcomputer 21 (hereinafter referred to as "first microcomputer") serving as a control circuit, a first inverter circuit 22, and a first current sensor 23.

[0030] A first rotation angle sensor 16, a first current sensor 23, a vehicle speed sensor 40, and a first torque sensor 41 are connected to a first microcomputer 21. The first current sensor 23 detects an actual current value I1, which is the current flowing in the first winding group 14. The actual current value I1 is detected as the phase current value generated in the power supply path between the first inverter circuit 22 and the first winding group 14. Figure 1 For ease of description, the phase connection lines and phase current sensors are shown together as a single unit. Vehicle speed sensor 40 detects a vehicle speed value V, which indicates the vehicle's travel speed. First torque sensor 41 detects a steering torque Th1, which indicates the torque applied to the steering mechanism by the driver's steering operation.

[0031] The first microcomputer 21 generates a command signal S1, which is a PWM (pulse width modulation) signal for the first inverter circuit 22. The first microcomputer 21 uses the rotation angle θm1 and the actual current value I1 to control the power supply to the first winding group 14.

[0032] The first inverter circuit 22 is a PWM-type three-phase inverter, which converts DC power supplied from a DC power source into three-phase AC power by switching the switching elements of each phase based on a command signal S1 generated by the first microcomputer 21. The current corresponding to the command signal S1 is supplied to the first winding group 14 via the first inverter circuit 22.

[0033] The slave control unit 30 has essentially the same configuration as the master control unit 20. That is, the slave control unit 30 includes: a second microcomputer 31 (hereinafter referred to as "second microcomputer") as a control circuit, a second inverter circuit 32, and a second current sensor 33.

[0034] The second rotation angle sensor 17, the second current sensor 33, the vehicle speed sensor 40, and the second torque sensor 42 are connected to the second microcomputer 31. The second current sensor 33 detects the actual current value I2, which is the current flowing in the second winding group 15. The actual current value I2 is detected as the phase current value generated in the power supply path between the second inverter circuit 32 and the second winding group 15. Figure 1 In this diagram, for ease of description, the phase connection lines and the phase current sensors are shown together as a single unit. The second torque sensor 42 detects the steering torque Th2, which is a value indicating the torque applied to the steering mechanism by the driver's steering operation.

[0035] The second microcomputer 31 generates a command signal S2, which is a PWM signal for the second inverter circuit 32. The second microcomputer 31 uses the rotation angle θm2 and the actual current value I2 to control the power supply to the second winding group 15.

[0036] The second inverter circuit 32 is a PWM-type three-phase inverter, which converts DC power supplied from a DC power source into three-phase AC power by switching the switching elements of each phase based on a command signal S2 generated by the second microcomputer 31. The current corresponding to the command signal S2 is supplied to the second winding group 15 via the second inverter circuit 32.

[0037] The first microcomputer 21 and the second microcomputer 31 send digital signals as information to and receive digital signals as information from each other via a communication bus L. For example, a Serial Peripheral Interface (SPI), a standard for synchronous serial communication, is used as the communication standard via the communication bus L, which is implemented between the first microcomputer 21 and the second microcomputer 31.

[0038] The first microcomputer 21 generates various signals COM1 as digital signals, including signals indicating the state of the system to which the first microcomputer 21 belongs, and transmits the generated signals COM1 to the second microcomputer 31 via the communication bus L. The second microcomputer 31 generates various signals COM2 as digital signals, including signals indicating the state of the system to which the second microcomputer 31 belongs, and transmits the generated signals COM2 to the first microcomputer 21 via the communication bus L. Whenever a signal is acquired in each of the predetermined operating cycles, the microcomputers 21 and 31 that have received the signal update the information indicated by the signals COM1 and COM2 acquired in this way via the communication bus L using the latest information.

[0039] The functions of the first microcomputer 21 and the second microcomputer 31 will now be described. Microcomputers 21 and 31 include CPUs 21a and 31a (not shown in the figures) as central processing units, and memories 21b and 31b. The CPUs 21a and 31a execute programs stored in memories 21b and 31b in each of a predetermined operating cycle. Therefore, various processes are performed.

[0040] Figure 2 Some of the processing performed by microcomputers 21 and 31 is shown. Figure 2 The processing shown is achieved by having CPUs 21a and 31a execute programs stored in memories 21b and 31b according to the type of processing being implemented.

[0041] The rotation angle θm1, the actual current value I1, the steering torque Th1, and the vehicle speed value V are input to the first microcomputer 21. The first microcomputer 21 generates and outputs a command signal S1 based on these input state variables.

[0042] Specifically, the first microcomputer 21 includes: a first torque command value calculation unit 50 for calculating the torque command value T*; and a first current control unit 51 for calculating the command signal S1. The steering torque Th1 and vehicle speed V are input to the first torque command value calculation unit 50. The first torque command value calculation unit 50 calculates the torque command value T* based on the input state variables. The generated torque command value T* is output to the first current control unit 51 and, as one of the signals COM1, is output to the second microcomputer 31 via the communication bus L. The torque command value T* is set to the current value required for the first winding group 14 and the second winding group 15 to generate half (50%) of the generated torque required for the total torque needed for the motor 12.

[0043] The first current control unit 51 includes: a first current command value calculation unit 51a that calculates the current command value I1*; and a first current F / B (feedback) control unit 51b that generates the command signal S1. The torque command value T* is input to the first current command value calculation unit 51a. The first current command value calculation unit 51a calculates the current command value I1* in the dq coordinate system based on the torque command value T*. The calculated current command value I1* is output to the first current F / B control unit 51b.

[0044] The current command value I1*, the rotation angle θm1, and the actual current value I1 are input to the first current F / B control unit 51b. The first current F / B control unit 51b calculates the actual current value in the dq coordinate system by mapping the actual current value I1 to the dq coordinate system based on the rotation angle θm1. The first current F / B control unit 51b performs current feedback control based on the current difference in the coordinate system to make the actual current value in the dq coordinate system conform to the current command value I1* in the dq coordinate system, thereby generating a command signal S1. The generated command signal S1 is output to the first inverter circuit 22. Therefore, the drive power corresponding to the command signal S1 is supplied from the first inverter circuit 22 to the first winding group 14.

[0045] The rotation angle θm2, the actual current value I2, the steering torque Th2, the vehicle speed value V, and the torque command value T* generated by the first microcomputer 21 are input to the second microcomputer 31. The second microcomputer 31 generates and outputs the command signal S2 based on these input state variables.

[0046] Specifically, the second microcomputer 31 includes a second torque command value calculation unit 60 and a second current control unit 61. The second torque command value calculation unit 60 calculates a slave torque command value TS* as information corresponding to the torque command value T* generated by the first microcomputer 21, and the second current control unit 61 calculates a command signal S2.

[0047] The steering torque Th2 and vehicle speed V are input to the second torque command value calculation unit 60. The second torque command value calculation unit 60 calculates the driven torque command value TS* based on the input state variables. The generated driven torque command value TS* is output to the first microcomputer 21 as one of the signals COM2 via the communication bus L. The driven torque command value TS* is calculated using the same method as the first microcomputer 21, and the driven torque command value TS* can be considered as an estimated torque command value calculated by estimating the torque command value T*. The driven torque command value TS* is used by microcomputers 21 and 31 to monitor for any anomalies by comparing it with the torque command value T* generated by the first microcomputer 21.

[0048] The second current control unit 61 includes: a second current command value calculation unit 61a that calculates the current command value I2*; a second current F / B control unit 61b that generates the command signal S2; and a command value switching unit 63 that selects an appropriate value for the current command value I2*.

[0049] The torque command value T* generated by the first microcomputer 21 is input to the second current command value calculation unit 61a. The second current command value calculation unit 61a calculates the current command value I2* in the dq coordinate system based on the torque command value T*. The calculated current command value I2* is output to the command value switching unit 63, and the command value switching unit 63 selects the appropriate value for the current command value I2*, and outputs it as the final current command value I2* to the second current F / B control unit 61b.

[0050] The rotation angle θm2, the actual current value I2, and the final current command value I2* selected as appropriate by the command value switching unit 63 are input to the second current F / B control unit 61b. The second current F / B control unit 61b calculates the actual current value in the dq coordinate system by mapping the actual current value I2 to the dq coordinate system based on the rotation angle θm2. The second current F / B control unit 61b generates a command signal S2 by performing current feedback control based on the current difference in the coordinates to make the actual current value in the dq coordinate system conform to the current command value I2* in the dq coordinate system. The generated command signal S2 is output to the second inverter circuit 32. Therefore, the drive power corresponding to the command signal S2 is supplied from the second inverter circuit 32 to the second winding group 15.

[0051] In this embodiment, essentially, during normal operation, drive power is supplied to the first winding group 14 and the second winding group 15 based on a torque command value T* generated by the first microcomputer 21 and shared by microcomputers 21 and 31 via the communication bus L. When communication between the microcomputers is abnormal, such as a disconnection of the communication bus L or a fixed value, the second microcomputer 31 cannot obtain the torque command value T* generated by the first microcomputer 21. Communication abnormalities between the microcomputers include abnormalities that can be recovered to a normal state and abnormalities that cannot be recovered to a normal state. When an abnormality that can be recovered to a normal state occurs, it is considered preferable that the second microcomputer 31 continuously supplies power to the second winding group 15 even if the torque command value T* generated by the first microcomputer 21 cannot be obtained under the assumption that the abnormality will be recovered to a normal state. To achieve this purpose, the second microcomputer 31 is configured to perform backup control for properly maintaining the drive of the motor 12 when communication between the microcomputers is abnormal and the abnormality can be recovered to a normal state. The functions associated with the backup control will be described in detail below.

[0052] like Figure 2 As shown, the second microcomputer 31 includes: an anomaly monitoring unit 62 for monitoring the communication status between microcomputers; and a command value switching unit 63 for switching the torque command value T* to an appropriate value according to the communication status between microcomputers.

[0053] The signal COM1, which includes the torque command value T*, sent by the first microcomputer 21, is input to the anomaly monitoring unit 62. The anomaly monitoring unit 62 detects communication anomalies between the microcomputers based on the signal COM1 and monitors a series of conditions until the anomaly is confirmed when predetermined conditions are met after the anomaly is detected.

[0054] Specifically, the anomaly monitoring unit 62 monitors a "normal state" in which the signal COM1 can be received, a "state in which an anomaly is detected" in which an anomaly can be determined and the system can recover to normal, and a "state in which an anomaly is determined" in which an anomaly can be determined and the system can recover to normal but the COM1 signal cannot be received for communication between the microcomputers. These communication states are monitored based on the number of times the signal COM1 is not received. The signal COM1 is not received when it cannot be received at an appropriate time, or when it can be received at an appropriate time but the checksum of its value is abnormal. The signal COM1 is also not received when the absolute value of the signal COM1 is greater than the upper limit value by design, or when COM1 includes information indicating an anomaly in the first microcomputer 21.

[0055] For example, the anomaly monitoring unit 62 counts the number of consecutive unreceived signals COM1, and determines that the communication between the microcomputers is normal, i.e., an error-proactive state, when the number of unreceived signals is less than a threshold number. For example, the threshold number is a certain number of times, such as two times.

[0056] When the number of missed communications is equal to or greater than a threshold number and the duration of this state is less than a threshold time, the anomaly monitoring unit 62 determines that it is in a state in which an anomaly in communication between the microcomputers has been detected, i.e., an error passive state. For example, the threshold time is several seconds, such as one second. When the number of missed communications is less than the threshold number, the anomaly monitoring unit 62 determines that communication between the microcomputers has returned to normal.

[0057] When the number of missed communications is equal to or greater than a threshold number and this state persists for a threshold time, the anomaly monitoring unit 62 determines that a predetermined condition has been met, and it is in a state in which a communication anomaly between the microcomputers is determined, i.e., a bus disconnection state. This state, where a communication anomaly between the microcomputers is determined, is a state that cannot be restored to normal operation unless special conditions, such as a communication reset, are met.

[0058] Then, the anomaly monitoring unit 62 generates an anomaly flag FLG based on the communication status between the microcomputers. The anomaly monitoring unit 62 does not generate an anomaly flag FLG when the communication between the microcomputers is normal. When an anomaly is detected in the communication between the microcomputers, the anomaly monitoring unit 62 generates an anomaly flag FLG (1) as information indicating this fact. When an anomaly in the communication between the microcomputers is determined, the anomaly monitoring unit 62 generates an anomaly flag FLG (2) as information indicating this fact. The generated anomaly flag FLG (1) is output to the command value switching unit 63, and the generated anomaly flag FLG (2) is output to the second current control unit 61. When an anomaly flag FLG (2) is input, the second current control unit 61 stops generating and outputting the command signal S2, thereby stopping the power supply to the second winding group 15. The anomaly flag FLG (2) can be output to the second inverter circuit 32. In this case, when an anomaly flag FLG (2) is input, the second inverter circuit 32 stops its operation, thereby stopping the power supply to the second winding group 15.

[0059] The command value switching unit 63 includes: a holding unit 70, which holds an appropriate value as the current command value I2* in the state where communication between the microcomputers is abnormal; and a switching unit 71, which switches the selection state of the output as the final current command value I2* according to the communication state between the microcomputers.

[0060] The actual current value I2 and the abnormal flag FLG(1) are input to the holding unit 70. When the abnormal flag FLG(1) is input and updated simultaneously with the time-varying actual current value I2 in each of the predetermined operating cycles, the holding unit 70 stores the value of the actual current value I2 input at the corresponding input timing as a holding value D. Here, the held actual current value I2 is the actual current value mapped to the dq coordinate system based on the rotation angle θm2, and may also be the actual current value calculated by the second current F / B control unit 61b in the q coordinate system.

[0061] If the state of having already inputted the abnormal flag FLG(1) continues after it has already been input, the holding unit 70 can stop the input of the actual current value I2. The actual current value I2 is information obtained through a different path via the communication bus L through which communication with the microcomputer takes place, and is information secured by the second microcomputer 31 in each of a predetermined operating cycle for the purpose of controlling the power supply to the second winding group 15. The actual current value I2 stored as a holding value D is information secured by the second microcomputer 31 for the purpose of controlling the power supply to the second winding group 15 when communication between the microcomputers is normal, and is information secured before an abnormality in communication between the microcomputers is detected.

[0062] While the error flag FLG(1) is input, the hold value D is temporarily stored and held in a region within a predetermined storage area of ​​the memory 31b of the second microcomputer 31, where the value of the current command value I2* is to be stored. This storage area storing the hold value D is not a separate storage area secured for backup control, but rather a storage area used from the start of normal operation. In other words, the function of the hold unit 70 is to store the actual current value I2 at the time the error flag FLG(1) is input in the predetermined storage area of ​​the memory 31b, so that the actual current value I2 can be used as the value of the current command value I2*. When the error flag FLG(1) is not input, the hold value D is deleted by updating the predetermined storage area of ​​the memory 31b of the second microcomputer 31. In this case, when the input of the actual current value I2 is stopped, the hold unit 70 can release the input stop. The stored hold value D is output to the switching unit 71.

[0063] An anomaly flag FLG(1), a current command value I2* generated by the second current command value calculation unit 61a, and a holding value D held by the holding unit 70 are input to the switching unit 71. The current command value I2* is input to the first input terminal N1 of the switching unit 71, and the holding value D is input to the second input terminal N2 of the switching unit 71. The switching unit 71 controls the selection state of the command value so that when the anomaly flag FLG(1) is not input, the current command value I2* input to the first input terminal N1 is output as the final current command value I2* to the second current F / B control unit 61b. On the other hand, when the anomaly flag FLG(1) is input in the selection state in which the current command value I2* input to the first input terminal N1 is output to the second current F / B control unit 61b, the switching unit 71 controls the selection state of the command value so that the holding value D input to the second input terminal N2 is output as the final current command value I2* to the second current F / B control unit 61b. While inputting the abnormal flag FLG(1), the selection state in which the held value D is output as the final current command value I2* is continuously maintained. When the abnormal flag FLG(1) is not input, the selection state in which the held value D is output as the final current command value I2* is controlled to the selection state in which the current command value I2* input to the first input terminal N1 is output. The abnormal flag FLG(2) can be input to the switching unit 71. In this case, while inputting the abnormal flag FLG(2), the selection state in which the held value D is output as the current command value I2* can be maintained, or the output of the current command value I2* can be stopped.

[0064] Regarding the final current command value I2* selected as appropriate in this manner, when no anomaly flag FLG(1) is input, the current command value I2* generated based on the torque command value T* sent from the first microcomputer 21 is output to the second current F / B control unit 61b. Regarding the final current command value I2*, when the anomaly flag FLG(1) is input, the holding value D is output to the second current F / B control unit 61b instead of the current command value I2* generated based on the torque command value T* sent from the first microcomputer 21.

[0065] In other words, when a communication anomaly between the microcomputers is detected, the second microcomputer 31 uses a hold value D, which is the current command value I2*, instead of the current command value I2* generated based on the torque command value T* sent from the first microcomputer 21, to perform backup control for controlling the power supply to the second winding group 15 under the control of the second current F / B control unit 61b. In this embodiment, the power supply control command value includes the torque command value T* and the current command value I2*.

[0066] The operation of this embodiment will now be described. According to this embodiment, an actual current value I2 is used to generate a current command value I2* for the second microcomputer 31 to perform backup control. This actual current value I2 is information obtained by the second microcomputer 31 through a path different from the communication path between the microcomputers. Therefore, even if a communication anomaly between the microcomputers is detected, the probability of an anomaly occurring due to the detected anomaly is very low. That is, even if information is updated and rewritten simultaneously with a communication anomaly between the microcomputers detected, the information obtained by the second microcomputer 31 through a path different from the communication path between the microcomputers will not cause problems. Therefore, in the memory 31b of the second microcomputer 31, apart from the storage area used for normal operation to ensure information, there is no need to separately set up a dedicated storage area for isolating information, etc., before ensuring the information used to generate the current command value I2* when the second microcomputer 31 performs backup control.

[0067] The advantages of this implementation will be described below. (1) In this implementation, the actual current value I2 is used to generate the current command value I2* for the second microcomputer 31 to perform backup control. This actual current value I2 is information obtained by the second microcomputer 31 through a path other than communication between microcomputers. Therefore, the scale of changes required to add components to cope with communication anomalies between microcomputers can be reduced.

[0068] (2) In this embodiment, the actual current value I2 is used to generate the current command value I2* for the second microcomputer 31 to perform backup control. Therefore, when the second microcomputer 31 is switched to perform backup control, sudden changes in the power supply to the second winding group 15 can be suppressed, and sudden changes in the motor torque can be suppressed.

[0069] Second Implementation Method

[0070] The motor control device according to the second embodiment will now be described. Components that are the same as those in the foregoing embodiments will be indicated by the same reference numerals and will not be described again.

[0071] like Figure 3 As shown, the first microcomputer 21 according to this embodiment includes a first torque command value calculation unit 52 and a first anomaly monitoring unit 53. A signal COM2, including a slave torque command value TS*, sent from the second microcomputer 31, is input to the first anomaly monitoring unit 53. The first anomaly monitoring unit 53 uses the same method as in the anomaly monitoring unit 62 according to the first embodiment to detect communication anomalies between the microcomputers based on the signal COM2, and monitors a series of states until an anomaly is determined when predetermined conditions are met after the anomaly is detected.

[0072] When communication between the microcomputers is normal, the first anomaly monitoring unit 53 does not generate an anomaly flag FLG. When an anomaly in communication between the microcomputers is detected, the first anomaly monitoring unit 53 generates an anomaly flag FLG (1) as information indicating this fact. When an anomaly in communication between the microcomputers is determined, the first anomaly monitoring unit 53 generates an anomaly flag FLG (2) as information indicating this fact. The generated anomaly flags FLG (1) and FLG (2) are output to the first torque command value calculation unit 52.

[0073] When anomaly flags FLG(1) and FLG(2) are input, the first torque command value calculation unit 52 generates a torque command value T* that is set to twice the value under normal communication conditions between the microcomputers, such that the first winding group 14 generates a current command value I1* required to generate all (100%) of the torque required to generate the motor 12. In other words, the current command value I1* generated by the first current command value calculation unit 51a is set to twice the value under normal communication conditions between the microcomputers where anomaly flags FLG(1) and FLG(2) are not input, thereby increasing the electrical force supplied to the first winding group 14.

[0074] The second microcomputer 31 according to this embodiment includes a second anomaly monitoring unit 64 and a command value switching unit 65. The second anomaly monitoring unit 64 is the same as the anomaly monitoring unit 62 according to the first embodiment.

[0075] The command value switching unit 65 includes: a storage unit 72 that stores an appropriate value as a current command value I2* in the state where communication between the microcomputers is abnormal; and a switching unit 73 that switches the output as the selection state of the final current command value I2* according to the communication state between the microcomputers.

[0076] Storage unit 72 is a predetermined storage area of ​​memory 31b, in which a "zero (0) value" is stored, for example, for setting the initial value of command signal S1 during the startup process of the second microcomputer 31. The "zero (0) value" is information pre-secured in the predetermined storage area by the second microcomputer 31 from the time the memory 31b begins normal operation, obtained via a different path than the communication bus L through which the microcomputers communicate with each other, for the purpose of controlling the power supply to the second winding group 15, and is secured regardless of the communication state between the microcomputers. The "zero (0) value" stored in this way is connected to the second input terminal N2 of switching unit 73.

[0077] The "zero (0) value" is normally input to the second input terminal N2 of the switching unit 73. The switching unit 73 controls the selection state of the command value so that when no abnormal flag FLG (1) is input, the current command value I2* input to the first input terminal N1 of the switching unit 73 is output as the final current command value I2* to the second current F / B control unit 61b. On the other hand, when the abnormal flag FLG (1) is input in the selection state in which the current command value I2* input to the first input terminal N1 is output to the second current F / B control unit 61b, the switching unit 73 controls the selection state of the command value so that the "zero (0) value" input to the second input terminal N2 is output as the final current command value I2* to the second current F / B control unit 61b. While the abnormal flag FLG (1) is input, the selection state in which the "zero (0) value" is output as the current command value I2* is continuously maintained. When no error flag FLG(1) is input, the selection state where "zero (0) value" is output as the current command value I2* is controlled to the selection state where the current command value I2* input to the first input terminal N1 is output. Error flag FLG(2) can be input to the switching unit 73. In this case, when error flag FLG(2) is input, the selection state where "zero (0) value" is output as the final current command value I2* can be maintained, or the output of the final current command value I2* can be stopped.

[0078] In other words, upon detecting an anomaly in communication between the microcomputers, the second microcomputer 31 uses a "zero (0) value" as the current command value I2* to replace the current command value I2* generated based on the torque command value T* sent from the first microcomputer 21 to perform backup control for controlling the power supply to the second winding group 15 under the control of the second current F / B control unit 61b.

[0079] According to this embodiment, the same operation and advantages as the first embodiment can be achieved. Further advantages can be achieved as follows: (3) In this embodiment, a "zero (0) value" is used to generate the current command value I2* for the second microcomputer 31 to perform backup control. Therefore, while the second microcomputer 31 performs backup control, the power supply to the second winding group 15 can be stopped, and abnormal motor torque can be suppressed.

[0080] (4) In this embodiment, a current command value I2* is generated, which is set to twice the value of the state in which communication between the microcomputers is normal, such that while the second microcomputer 31 performs backup control, the first microcomputer 21 increases the electrical power supplied to the first winding group 14. Therefore, assuming that the power supply to the second winding group 15 is stopped while the second microcomputer 31 performs backup control, abnormal motor torque can be suppressed, and the occurrence of insufficient motor torque can be suppressed.

[0081] Third Implementation Method

[0082] The motor control device according to the third embodiment will now be described. Components that are the same as those in the foregoing embodiments will be indicated by the same reference numerals and will not be described again.

[0083] like Figure 4 As shown, the second microcomputer 31 according to this embodiment includes a command value switching unit 66, instead of the command value switching unit 63 according to the first embodiment. Except for the different values ​​held by the holding unit 74, the command value switching unit 66 has the same configuration as the command value switching unit 63 according to the first embodiment.

[0084] The command value switching unit 66 is disposed between the second torque command value calculation unit 60 and the second current control unit 61. The command value switching unit 66 includes a holding unit 74 and a switching unit 75. The holding unit 74 holds an appropriate value as the torque command value T* in the event of abnormal communication between the microcomputers. The switching unit 75 switches the selection state of the value output as the final torque command value T* according to the communication status between the microcomputers.

[0085] In the command value switching unit 66, the slave torque command value TS* and the abnormality flag FLG(1) are input to the holding unit 74. When the abnormality flag FLG(1) is input and updated at each of the predetermined operating cycles, the holding unit 74 stores the slave torque command value TS* input at the corresponding input timing as a holding value D. When the state of the abnormality flag FLG(1) continues after the input of the abnormality flag FLG(1), the holding unit 74 can stop the input of the slave torque command value TS*. The slave torque command value TS* is information obtained through a different path than the communication bus L by means of communication with the microcomputer, and is information that is ensured by the second microcomputer 31 in each of the predetermined operating cycles for the purpose of controlling the power supply to the second winding group 15. The slave torque command value TS* stored as a holding value D is information that is ensured by the second microcomputer 31 for the purpose of controlling the power supply to the second winding group 15 when the communication between the microcomputers is normal, and is information that is ensured before an abnormality in the communication between the microcomputers is detected. In this embodiment, the power supply control command value is the torque command value T*, and the slave-side power supply control command value is the slave-side torque command value TS*.

[0086] An anomaly flag FLG(1), a torque command value T* generated by the first microcomputer 21, and a hold value D held by the hold unit 74 are input to the switching unit 75. The torque command value T* is input to the first input terminal N1 of the switching unit 75, and the hold value D is input to the second input terminal N2 of the switching unit 75. The switching unit 75 controls the selection state of the command value so that when no anomaly flag FLG(1) is input, the torque command value T* input to the first input terminal N1 is output as the final torque command value T* to the second current control unit 61. On the other hand, when an anomaly flag FLG(1) is input while the torque command value T* input to the first input terminal N1 is output to the second current control unit 61, the switching unit 75 controls the selection state of the command value so that the hold value D input to the second input terminal N2 is output as the final torque command value T* to the second current control unit 61. The selection state where the hold value D is output as the final torque command value T* when an anomaly flag FLG(1) is input is continuously maintained. When no error flag FLG(1) is input, the selection state of holding value D as the final torque command value T* output is controlled to the selection state of outputting the torque command value T* to the first input terminal N1. Error flag FLG(2) can be input to the switching unit 75. In this case, when error flag FLG(2) is input, the output holding value D can be maintained as the selection state of torque command value T*, or the output of torque command value T* can be stopped.

[0087] Regarding the final torque command value T* selected as appropriate in this manner, when no exception flag FLG(1) is input, the torque command value T* sent from the first microcomputer 21 is output to the second current control unit 61. Regarding the final torque command value T*, when the exception flag FLG(1) is input, the value D is retained instead of the torque command value T* sent from the first microcomputer 21 and output to the second current control unit 61.

[0088] According to this embodiment, the same operation and advantages as the first embodiment can be achieved. The following advantages can also be achieved: (5) In this embodiment, the torque command value T* for the second microcomputer 31 to perform backup control is generated using the slave-side torque command value TS*. Therefore, when the second microcomputer 31 is switched to perform backup control, sudden changes in the power supplied to the second winding group 15 can be suppressed, and sudden changes in the motor torque can also be suppressed.

[0089] Fourth Implementation Method

[0090] like Figure 5 As shown, except that the current command value I2* generated by the first current command value calculation unit 51a of the first current control unit 51 is output to the second microcomputer 31 via the communication bus L instead of the torque command value T* generated by the first torque command value calculation unit 50, the first microcomputer 21 according to this embodiment has the same configuration as the first microcomputer 21 according to the first embodiment.

[0091] In the second microcomputer 31 according to this embodiment, the second current control unit 67 has the same configuration as the second current control unit 61 according to the first embodiment, except that the second current command value calculation unit 61a according to the first embodiment is not provided.

[0092] The first current command value calculation unit 51a calculates a current command value I1*, which is set to the current value required for the first winding group 14 and the second winding group 15 to generate half (50%) of the generated torque required for the total torque required for the motor 12. The generated current command value I1* is output to the first current control unit 51, and a current command value I2*, as one of the signals COM1, is output to the second microcomputer 31 via the communication bus L. The current command value I2* input to the second microcomputer 31 is input to the command value switching unit 63 and to the first input terminal N1 of the switching unit 71.

[0093] The first torque command value calculation unit 50 generates a torque command value T*, which is set to the current value required by the first winding group 14 to generate the total (100%) generated torque required for the motor 12. In this embodiment, the power supply control command value is a current command value I2*.

[0094] According to this embodiment, the same operation and advantages as the first embodiment can be achieved.

[0095] Fifth Implementation Method

[0096] The motor control device according to the fifth embodiment will now be described. Components that are the same as those in the foregoing embodiments will be indicated by the same reference numerals and will not be described again.

[0097] like Figure 6 As shown, the second microcomputer 31 according to this embodiment includes a protection processing unit 80. In the first, second, or fourth embodiment, the protection processing unit 80 is disposed between the command value switching unit 63 or 65 and the second current F / B control unit 61b.

[0098] The protection processing unit 80 includes: a protection unit 90 that outputs a protection command value Rg* to suppress sudden changes in the current command value I2*; and a switching unit 91 that switches the selection state of the value output as the current command value I2* to suppress sudden changes in the current command value I2*.

[0099] The current current command value I2*(N), which is the current command value I2* output from the command value switching unit 63 or 65, and the previous current command value I2*(N-1), which is the current command value I2* previously output to the second current F / B control unit 61b, are input to the protection unit 90. The protection unit 90 calculates the protection command value Rg* based on the current current command value I2*(N) and the previous current command value I2*(N-1). The generated protection command value Rg* is output to the switching unit 91.

[0100] Specifically, when the current current command value I2*(N) deviates from a predetermined allowable range, the protection unit 90 outputs a protection command value Rg*. In this embodiment, the allowable range is a range set with respect to the previous current command value I2*(N-1) using a predetermined protection threshold Gth, and this range is equal to or less than the absolute value of the value obtained by adding the previous current command value I2*(N-1) and the protection threshold Gth. The protection command value Rg* is a value obtained by adding the previous current command value I2*(N-1) and the protection threshold Gth, and is the maximum or minimum value of the allowable range associated with the width of change from the previous value of the current command value I2* to the current value.

[0101] For example, when the command value switching unit 63 or 65 switches the selection state, an undesirable transition may occur, such as a sudden change in the current command value I2* output to the second current F / B control unit 61b before or after the switch. On the other hand, the protection threshold Gth is set to a value within a range obtained experimentally, assuming that the current command value I2* output to the second current F / B control unit 61b does not change suddenly before or after switching the selection state of the command value switching unit 63 or 65.

[0102] The current current command value I2*(N) output from command value switching unit 63 or 65 and the protection command value Rg* output from protection unit 90 are input to switching unit 91. The current current command value I2*(N) is input to the first input terminal M1 of switching unit 91, and the protection command value Rg* is input to the second input terminal M2 of switching unit 91. Switching unit 91 is configured to switch selection state, such that it switches which of the current current command value I2*(N) and the protection command value Rg* to use as the current command value I2*.

[0103] Specifically, the protection processing unit 80 determines whether the current current command value I2*(N) deviates from the allowable range set by the protection unit 90. Then, the protection processing unit 80 controls the selection state of the switching unit 91 based on the current current command value I2*(N). When the current current command value I2*(N) does not deviate from the allowable range set by the protection unit 90, the protection processing unit 80 controls the selection state of the switching unit 91 so that the current current command value I2*(N) is output as the current command value I2*. On the other hand, when the current current command value I2*(N) deviates from the allowable range set by the protection unit 90, the protection processing unit 80 controls the selection state of the switching unit 91 so that the protection command value Rg* is output as the current command value I2*. The protection processing unit 80 according to this embodiment is provided between the command value switching unit 66 according to the third embodiment and the second current control unit 61, and thus achieves the same function as described above.

[0104] According to this embodiment, the same operation and advantages as those of the aforementioned embodiment can be achieved. The following advantages can also be achieved. (6) In this embodiment, when the command value switching unit 63 or 65 switches the selection state, the current command value I2* output to the second current F / B control unit 61b may cause an undesirable change, and therefore there is a possibility of a sudden change in the motor torque.

[0105] Therefore, the protection processing unit 80 is disposed between the command value switching unit 63 or 65 and the second current F / B control unit 61b. Thus, when the command value switching unit 63 or 65 switches the selection state and the current command value I2* output to the second current F / B control unit 61b has an undesirable change, this change is suppressed by the protection command value Rg*. Therefore, the impact of the selection state switching performed by the command value switching unit 63 or 65 on changes in motor torque can be reduced. This is the same when this embodiment is applied to the third embodiment.

[0106] The aforementioned embodiments can be modified as follows. Unless there is a technical conflict, the embodiments and the following modification examples can be combined with each other. In the first, second, and fourth embodiments, the current command value I2* can vary when the second microcomputer 31 performs backup control. For example, in the first embodiment, after the current command value I2* has been set to the previous actual current value I2, the current command value I2* can be gradually reduced to "zero value (0)". This configuration can be achieved by combining the second and fifth embodiments. In the third embodiment, after the slave torque command value TS* has been set to the torque command value T*, the slave torque command value TS* can be gradually reduced to "zero value (0)".

[0107] In the first and third to fifth embodiments, the first anomaly monitoring unit 53 can be configured similarly to the second embodiment. In this case, the first anomaly monitoring unit 53 is configured to output an anomaly flag FLG (2) to the first torque command value calculation unit 50. The first torque command value calculation unit 50 is configured to generate a torque command value T*, which is set to twice the value under normal communication conditions between microcomputers without inputting the anomaly flag FLG (2), such that when the anomaly flag FLG (2) is input, the amount of power supplied to the first winding group 14 increases.

[0108] In the second embodiment, the command value sent from the first microcomputer 21 to the second microcomputer 31 can be a command signal S1, i.e., a PWM signal, or a voltage command value acquired during the generation of the PWM signal. In this case, the actual current value I2 or rotation angle θm2 acquired by the second microcomputer 31 can be output to the first microcomputer 21 as a signal COM2 via the communication bus L. In this case, the same advantages as in the second embodiment can be achieved.

[0109] In the first, fourth, and fifth embodiments, when the second microcomputer 31 calculates the current command value I2* using the same method as in the first microcomputer 21, the current command value I2* calculated by the second microcomputer 31 can be held by the holding unit 70 as in the third embodiment.

[0110] In the second embodiment, the first anomaly monitoring unit 53 can be configured to output only the anomaly flag FLG(2), or the first anomaly monitoring unit 53 can be omitted.

[0111] In the second embodiment, the same first torque command value calculation unit 50 as in other embodiments can be used instead of the first torque command value calculation unit 52. In the second embodiment, the first torque command value calculation unit 52 can generate a torque command value T*, which is set to twice the value under normal communication conditions between microcomputers only when one of the input anomaly flags FLG(1) and FLG(2) is entered.

[0112] In the first, third, fourth, and fifth embodiments, the anomaly flag FLG(2) can be input to the holding unit 70 or 74. In this case, when the anomaly flag FLG(2) is input, the holding unit 70 or 74 updates the holding value D to "zero value (0)".

[0113] In the aforementioned embodiments, the first torque command value calculation unit 50 or 52 may not use the vehicle speed value V, or may use another factor in combination, as long as at least the steering torque Th1 is used to calculate the torque command value T*. This is the same for the second torque command value calculation unit 60 according to the aforementioned embodiments; as long as at least the steering torque Th2 is used, the vehicle speed value V may not be used, or another factor may be used in combination.

[0114] In the fifth embodiment, the protection threshold Gth can vary based on the vehicle speed value V or another factor. In the fifth embodiment, another method can be used, provided that the protection command value Rg* is generated such that the current current command value I2*(N) is within the allowable range set by the protection unit 90.

[0115] In the fifth embodiment, the protection unit 90 can be configured to operate in one of the following situations: when the state of normal communication between microcomputers changes to a state of detecting an anomaly; and when the state of detecting an anomaly in communication between microcomputers changes to a state of normal communication between microcomputers.

[0116] In the foregoing embodiments, when signal COM1 or signal COM2 cannot be received at the appropriate timing, or when the signal can be received at the appropriate timing but the checksum value is abnormal, the communication status of the communication between the microcomputers can be determined to be at least a non-received state.

[0117] In the aforementioned embodiments, by detecting various voltages, such as the operating voltages associated with the operation of microcomputers 21 and 31, the non-received state can be determined as the communication state of communication between the microcomputers.

[0118] In the aforementioned embodiments, an abnormal communication status can be detected when the number of unreceived messages is equal to or greater than a second threshold number (which is greater than the threshold number). In the aforementioned embodiments, the number of communication buses L can be increased to two or more buses to provide communication redundancy between the microcomputers. In this case, communication between the microcomputers is determined to be normal when any normal bus exists; when a normal bus exists and an abnormality is detected on that bus, the second microcomputer 31 performs backup control; and when abnormalities are detected on all buses, power supply to the second winding group 15 is stopped.

[0119] In the aforementioned embodiment, when a communication anomaly between the microcomputers is determined, the second microcomputer 31 can continue to supply power to the second winding group 15 based on the side torque command value TS*, and operate independently of the first microcomputer 21.

[0120] In the foregoing embodiments, the CPU constituting the motor control device 11 can be implemented as a circuit comprising one or more processors executing computer programs; or one or more dedicated hardware circuits, such as application-specific integrated circuits (ASICs) executing at least some of various processes; or a combination of processors and dedicated hardware circuits. The memory can consist of all available media accessible to general-purpose or special-purpose computers.

Claims

1. A motor control device, characterized in that... This includes multiple control units (20, 30) corresponding to the first and second winding groups (14, 15) disposed in the motor (12), wherein, The motor control device (11) is configured to control the power supply to each winding group (14, 15) under the control of the plurality of control units based on various types of information obtained through communication between the plurality of control units; The plurality of control units include: a main control unit (20) configured to generate a power supply control command value for controlling the motor torque generated by the motor, as control information required to control the power supply to the first winding group; and a slave control unit (30) configured to update the power supply control command value generated by the main control unit when the power supply control command value is acquired through communication between the control units, and to control the power supply to the second winding group based on the latest power supply control command value; The plurality of control units include: an anomaly monitoring unit (62), configured to detect anomalies in communication between the control units, and to monitor a series of states until the anomaly is determined when predetermined conditions are met after the anomaly is detected; and The slave control unit is configured to: after the anomaly monitoring unit detects an anomaly in the communication between the control units but before determining the anomaly, generate a power supply control command value using the following information instead of the power supply control command value updated each time it is acquired via communication between the control units, wherein the information is acquired via a path other than the communication between the control units and is maintained in a normal state where no anomaly in the communication between the control units is detected for controlling the power supply to the second winding group; and perform backup control for maintaining the power supply control command value. The slave control unit (30) is configured to use the actual current value, which is the value of the current flowing in the second winding group, as information held in a normal state of communication between the control units for controlling the power supply to the second winding group, after the anomaly monitoring unit (62) detects an anomaly in the communication between the control units and before determining the anomaly.

2. A motor control device, characterized in that... This includes multiple control units (20, 30) corresponding to the first and second winding groups (14, 15) disposed in the motor (12), wherein, The motor control device (11) is configured to control the power supply to each winding group (14, 15) under the control of the plurality of control units based on various types of information obtained through communication between the plurality of control units; The plurality of control units include: a main control unit (20) configured to generate a power supply control command value for controlling the motor torque generated by the motor, as control information required to control the power supply to the first winding group; and a slave control unit (30) configured to update the power supply control command value generated by the main control unit when the power supply control command value is acquired through communication between the control units, and to control the power supply to the second winding group based on the latest power supply control command value; The plurality of control units include: an anomaly monitoring unit (62), configured to detect anomalies in communication between the control units, and to monitor a series of states until the anomaly is determined when predetermined conditions are met after the anomaly is detected; and The slave control unit is configured to: after the anomaly monitoring unit detects an anomaly in the communication between the control units but before determining the anomaly, generate a power supply control command value using the following information instead of the power supply control command value updated each time it is acquired via communication between the control units, wherein the information is acquired through a path other than the communication between the control units and is maintained in a normal state where no anomaly in the communication between the control units is detected for controlling the power supply to the second winding; and perform backup control for maintaining the power supply control command value. The slave control unit (30) is configured to use a zero value as information for controlling the power supply to the second winding group, after the anomaly monitoring unit (62) detects an anomaly in the communication between the control units but before determining the anomaly.

3. The motor control device according to claim 2, characterized in that, The main control unit (20) is configured to control the anomaly monitoring unit (62) such that when the slave control unit (30) performs the backup control after the anomaly monitoring unit (62) detects an anomaly in the communication between the control units but before determining the anomaly, the amount of power supplied to the first winding group is increased compared to a state where the communication between the control units is normal using the power supply control command value.

4. The motor control device according to any one of claims 1 to 3, characterized in that, The power supply control command value includes a current command value for feedback control of the actual current value and a torque command value generated by the main control unit to generate the current command value, wherein the actual current value is the current value flowing in the first winding group due to the power supply.

5. The motor control device according to any one of claims 1 to 3, characterized in that, The power supply control command value includes a current command value for feedback control of the actual current value and a torque command value for generating the current command value, wherein the actual current value is the current value flowing in the first winding group due to the power supply.

6. The motor control device according to any one of claims 1 to 3, characterized in that, The power supply control command value is a current command value used to provide feedback control of the actual current value, which is the current value flowing in the first winding group due to the power supply.

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