Diagnostic system, vehicle, diagnostic method and computer-readable storage medium

Abstract

The present application relates to a diagnostic system, a vehicle, a diagnostic method, and a computer-readable storage medium. The diagnostic system performs diagnosis of a rotating section of a rotating electric machine possessed by a vehicle during travel of the vehicle. The diagnostic system includes a measurement section that, in a case where diagnosis of the rotating section is performed, stops charging of a storage battery possessed by the vehicle from the rotating electric machine, and measures an induced voltage of the rotating electric machine generated by rotation of the rotating section; and a determination section that, in a case where the magnitude of the induced voltage is equal to or greater than a predetermined value, determines that the rotating section is abnormal. The method includes a step of, in a case where diagnosis of the rotating section is performed, stopping charging of a storage battery possessed by the vehicle from the rotating electric machine, and measuring an induced voltage of the rotating electric machine generated by rotation of the rotating section; and a step of, in a case where the magnitude of the induced voltage is equal to or greater than a predetermined value, determining that the rotating section is abnormal.

Description

Technical Field

[0001] This invention relates to diagnostic systems, vehicles, diagnostic methods, and computer-readable storage media. Background Technology

[0002] Patent Document 1 describes a device that allows current to flow along a wire strip, and detects the breakage of the strip by preventing the current from flowing. Non-Patent Document 1 describes a method for detecting axial misalignment between the rotor and stator by utilizing the change in winding impedance caused by a change in the positional relationship between the rotor and stator.

[0003] Patent Document 1: Japanese Utility Model Application Publication No. 7-19292

[0004] Non-Patent Literature 1: Yoshio Yoshisan et al., “Development of an Ultra-Low Noise Motor Using Winding as an Eccentricity Estimation Sensor (Motor Noise Reduction Based on Eccentricity Less Than 1 μm)”, Proceedings of the Japanese Society of Mechanical Engineers, 2018, Vol. 84, No. 861, pp. 17-00450 Summary of the Invention

[0005] In a first aspect of the present invention, a diagnostic system is provided. The diagnostic system diagnoses the rotating part of a rotary motor installed in a vehicle while the vehicle is in motion. The diagnostic system includes a measurement unit that, when diagnosing the rotating part, stops charging from the rotary motor to a battery installed in the vehicle and measures the induced voltage of the rotary motor generated by the rotation of the rotating part. The diagnostic system also includes a determination unit that determines that the rotating part is malfunctioning if the magnitude of the induced voltage is above a predetermined value.

[0006] The diagnostic system can have a notification unit that notifies the rotating part of any abnormalities when the magnitude of the induced voltage is above a predetermined value.

[0007] The diagnostic system can be set to operate the vehicle's mechanical brakes instead of the regenerative brakes based on the rotary motor when a braking request is requested, in the case of a rotating part diagnostic.

[0008] The diagnostic system can have an execution determination unit that can determine the diagnostics of the rotating part without requiring the vehicle to accelerate.

[0009] The diagnostic system may include a power acquisition unit that acquires the battery's charge level. The diagnostic system may also include an execution determination unit that determines whether to perform a diagnostic test on the rotating part if the battery's charge level is above a predetermined reference value.

[0010] The preset value can be determined by using the value set when the vehicle leaves the factory.

[0011] The predetermined value can be determined based on multiple previously measured induced voltages.

[0012] If the frequency component of the induced voltage in the frequency domain that is an integer multiple of the electric angular velocity of the rotating part is greater than a predetermined value, the judgment unit can determine that the rotating part is abnormal.

[0013] If the frequency component of the induced voltage in the frequency domain, which is more than 40 times the electric angular velocity of the rotating part, is above a predetermined value, the judgment unit can determine that the rotating part is abnormal.

[0014] If the value obtained by standardizing the induced voltage with the rotational speed is above a predetermined value, the judgment unit can determine that the rotating part is abnormal.

[0015] In a second aspect of the invention, a vehicle is provided. The vehicle is equipped with the aforementioned diagnostic system.

[0016] In a third aspect of the present invention, a diagnostic method is provided. The diagnostic method diagnoses the rotating part of a rotary motor included in a vehicle while the vehicle is in motion. The diagnostic method includes the following steps: when diagnosing the rotating part, stopping the charging of the rotating motor to the vehicle's battery, and measuring the induced voltage of the rotating motor generated by the rotation of the rotating part. The diagnostic method includes a step of determining that the rotating part is abnormal if the magnitude of the induced voltage is above a predetermined value.

[0017] In a fourth aspect of the present invention, a program is provided. The program is used by a diagnostic system that diagnoses the rotating part of a vehicle-mounted rotary motor while the vehicle is in motion. The program functions as a measuring unit that, during the diagnosis of the rotating part, stops charging from the rotary motor to the vehicle's battery and measures the induced voltage of the rotary motor generated by the rotation of the rotating part. The program also functions as a judgment unit that determines a rotating part malfunction if the magnitude of the induced voltage is above a predetermined value.

[0018] Furthermore, the above summary of the invention does not list all the essential features of the invention. Additionally, sub-combinations of these feature groups can also constitute an invention. Attached Figure Description

[0019] Figure 1 The functional block structure of vehicle 10 is shown.

[0020] Figure 2 The illustration shows an example of a partial cross-section of a rotating motor 20 that is causing the abnormality.

[0021] Figure 3 The functional block structure of the diagnostic system 40 is illustrated schematically.

[0022] Figure 4This is a graph showing the frequency characteristics of the induced voltage of the rotary motor 20.

[0023] Figure 5 This is a graph showing the frequency characteristics of the induced voltage of the rotary motor 20.

[0024] Figure 6 It is a graph showing the frequency characteristics of the induced voltage of the rotary motor 20 at each rotational speed of the rotating part 310.

[0025] Figure 7 This is an example of a flowchart related to the diagnostic methods involved in the diagnostic system 40.

[0026] Figure 8 An example of a computer 2000 is shown. Detailed Implementation

[0027] The present invention will now be described through embodiments thereof; however, these embodiments do not limit the scope of the claimed invention. Furthermore, not all of the feature combinations described in the embodiments are essential to the solutions provided by the invention.

[0028] Figure 1 The functional block structure of vehicle 10 is shown. Vehicle 10 is, for example, an electric vehicle. Vehicle 10 can be a hybrid electric vehicle, etc.

[0029] Vehicle 10 includes a rotary motor 20, a battery 30, a power converter 32, a diagnostic system 40, axles 16a and 16b, and wheels 12a, 12b, 12c, and 12d. Axle 16a is connected to two wheels 12a and 12b, and axle 16b is connected to two wheels 12c and 12d. The output shaft of the rotary motor 20 is connected to axle 16a via a torque transmission mechanism. Axle 16a transmits the driving force from the output shaft of the rotary motor 20 to wheels 12a and 12b.

[0030] The rotary motor 20 serves as both a motor for vehicle drive and a generator for regeneration. The battery 30 serves as the power source for driving the rotary motor 20. The electrical energy stored in the battery 30 is converted into alternating current (AC) by the power converter 32 and supplied to the rotary motor 20. When the vehicle 10 decelerates, the rotary motor 20 converts the deceleration energy into electrical energy to generate AC power, which is then converted into direct current (DC) power by the power converter 32 and stored in the battery 30.

[0031] The diagnostic system 40 performs diagnostics on the rotary motor 20. In this embodiment, the diagnostics of the rotary motor 20 refers to, for example, determining whether the rotary motor 20 is malfunctioning. The diagnostic system 40 performs the diagnostics on the rotary motor 20 particularly while the vehicle 10 is in motion. When performing the diagnostics on the rotary motor 20 while the vehicle 10 is in motion, the diagnostic system 40 stops charging from the rotary motor 20 to the battery 30 by stopping power conversion based on the power converter 32. The diagnostic system 40 measures the induced voltage based on the rotary motor 20 during the period when charging from the rotary motor 20 to the battery 30 is stopped. If the magnitude of the induced voltage generated in the rotary motor 20 during the period when charging from the rotary motor 20 to the battery 30 is stopped is greater than or equal to a predetermined value, the diagnostic system 40 determines that the rotary motor 20 is malfunctioning.

[0032] Figure 2 The diagram schematically illustrates an example of a partial cross-section of a rotary motor 20 that is causing the anomaly. The rotary motor 20 is, for example, an internal rotor type rotary motor. The rotary motor 20 is, for example, a permanent magnet embedded rotary motor (IPM motor).

[0033] The rotary electric motor 20 includes a rotating part 310 and a fixed part 390. The fixed part 390 is arranged opposite the rotating part 310 with a small gap on the radially outer side of the rotating part 310. The fixed part 390 is called the stator.

[0034] The rotating part 310 is a so-called rotor. The rotating part 310 includes a rotating shaft 360, a core 312, and a plurality of permanent magnets including permanent magnets 330a, 330b, and 330c. The plurality of permanent magnets including permanent magnets 330a, 330b, and 330c are embedded in the core 312.

[0035] The core 312 is formed of a steel plate laminate consisting of multiple electromagnetic steel plates 350 stacked along a rotation axis 360. The rotation axis 360 is inserted into the central portion of the electromagnetic steel plates 350. The electromagnetic steel plates 350 have multiple magnet insertion holes, including magnet insertion holes 320a, 320b, and 320c, on their outer periphery. Multiple permanent magnets, including permanent magnets 330a, 330b, and 330c, are inserted into the multiple magnet insertion holes of the multiple electromagnetic steel plates 350. In the rotary motor 20, the three permanent magnets inserted into the three magnet insertion holes function as a single magnetic pole.

[0036] Figure 2The diagram shows two states where the magnet insertion holes 320a and 320b of the electromagnet plate 350 break, creating a gap 340a, and where the magnet insertion holes 320b and 320c break, creating a gap 340b. Due to the formation of gaps 340a and 340b, a protrusion 318 is created, projecting radially outward from the rotation axis of the rotary motor 20. The protrusion 318 reduces the distance between the fixed portion 390 and the rotating portion 310, thereby changing the magnetic circuit. As a result, the induced voltage generated in the rotary motor 20 increases compared to the case where the protrusion 318 is not present.

[0037] As described above, the diagnostic system 40 measures the induced voltage of the rotary motor 20 while the vehicle 10 is in motion and the battery 30 is not being charged. When the induced voltage is above a predetermined value, the rotary motor 20 is determined to be malfunctioning. Conversely, when the induced voltage is below the predetermined value, the diagnostic system 40 determines that the rotary motor 20 is normal. Therefore, since the change in induced voltage caused by the magnetic circuit change due to the generation of a gap can be detected, it is not necessary to install stress sensors or the like on the rotating part 310. Thus, the possibility of an abnormality occurring in the rotating part 310 can be detected without complicating the structure of the rotary motor 20.

[0038] Figure 3 The functional block structure of the diagnostic system 40 is schematically shown. The diagnostic system 40 includes a processing unit 200 and a storage unit 290.

[0039] The storage unit 290 is implemented using a non-volatile storage medium. The processing unit 200 is implemented using circuitry of an arithmetic processing device, such as a processor. The processing unit 200 processes information stored in the storage unit 290. The processing unit 200 can be implemented using a microcomputer having a CPU, ROM, RAM, I / O, and a bus. At least a portion of the diagnostic system 40 can be implemented using one or more ECUs (Electronic Control Units).

[0040] The processing unit 200 of the diagnostic system 40 performs diagnostics on the rotating part 310 of the rotary motor 20 of the vehicle 10 while the vehicle 10 is in motion. The processing unit 200 includes a measurement unit 210, a judgment unit 220, an execution judgment unit 230, a power storage acquisition unit 250, a request acquisition unit 260, and a notification unit 270.

[0041] When diagnosing the rotating part 310, the measurement unit 210 stops charging the rotating motor 20 to the battery 30 of the vehicle 10 and measures the induced voltage of the rotating motor 20 generated by the rotation of the rotating part 310. For example, the measurement unit 210 can stop charging the battery 30 by stopping the power conversion based on the power converter 32, and obtain the detection result of the output voltage of the rotating motor 20 from the power converter 32. Since the induced voltage is measured by stopping the charging of the rotating motor 20 to the battery 30 of the vehicle 10, the induced voltage of the rotating motor 20 in the no-load state can be used to determine the abnormality of the rotating part 310.

[0042] When the magnitude of the induced voltage of the rotary motor 20 is above a predetermined value, the determination unit 220 determines that the rotary unit 310 is malfunctioning. When the magnitude of the induced voltage of the rotary motor 20 is above the predetermined value, the notification unit 270 notifies the occupants of the rotary unit 310 of the malfunction. For example, the notification unit 270 can notify the occupants of the vehicle 10 of the malfunction by displaying an abnormality on the vehicle 10's dashboard. The notification unit 270 can notify the occupants of the malfunction through the HMI (Human-Machine Interface) function provided by the vehicle 10.

[0043] The request acquisition unit 260 acquires acceleration requests from the vehicle 10. The request acquisition unit 260 can acquire accelerator pedal depressing operations operated by the driver of the vehicle 10 as acceleration requests. When the vehicle 10 is performing autonomous driving, the request acquisition unit 260 can acquire acceleration requests output from the autonomous driving control unit of the vehicle 10.

[0044] When diagnosing the rotating part 310, the diagnostic system 40 is set to operate the mechanical brake of the vehicle 10 instead of the regenerative brake based on the rotating motor 20 in response to a braking request. Therefore, even when the power converter 32 stops measuring the induced voltage under no-load conditions and the regenerative brake is inactive, braking can still be performed using the mechanical brake.

[0045] If there is no request for acceleration from vehicle 10, the execution determination unit 230 determines to perform the diagnostics of the rotation unit 310. For example, if the request acquisition unit 260 does not acquire an acceleration request from vehicle 10, the execution determination unit 230 determines to perform the diagnostics of the rotation unit 310. Therefore, when there is an acceleration request from vehicle 10, the measurement of the induced voltage can be omitted. When the induced voltage of the rotary motor 20 in an unloaded state is measured when there is an acceleration request, the responsiveness to the acceleration request deteriorates. In contrast, by determining to perform the diagnostics of the rotation unit 310 when there is no request for acceleration from vehicle 10, the deterioration of the responsiveness to the acceleration request can be suppressed.

[0046] The power acquisition unit 250 acquires the power stored in the battery 30. When the power stored in the battery 30 is above a predetermined reference value, the execution determination unit 230 determines to perform a diagnostic check on the rotation unit 310. The higher the power stored in the battery 30, the lower the necessity for regenerative charging. Therefore, when the necessity for charging the battery 30 is low, it is possible to perform an operation to detect abnormalities in the rotation unit 310, thereby preventing excessive obstruction of battery charging.

[0047] The predetermined value can be a value set at the factory of vehicle 10. The predetermined value can be a value determined based on multiple previously measured induced voltages. The predetermined value can be determined by the average of multiple previously measured induced voltages. The predetermined value can be determined by a weighted average of multiple previously measured induced voltages. Therefore, with the use of the rotary motor 20, the value used to determine abnormalities in the rotating part 310 can be updated.

[0048] When the frequency component of the induced voltage in the frequency domain that is an integer multiple of the electrical angular velocity of the rotating part 310 is greater than a predetermined value, the determination unit 220 can determine that the rotating part 310 is malfunctioning. When the frequency component of the induced voltage in the frequency domain that is 40 times or more the electrical angular velocity of the rotating part 310 is greater than or equal to a predetermined value, the determination unit 220 can determine that the rotating part 310 is malfunctioning. When the value obtained by normalizing the induced voltage with respect to the rotational speed is greater than or equal to a predetermined value, the determination unit 220 determines that the rotating part 310 is malfunctioning.

[0049] Figure 4 This is a graph illustrating an example of the time-varying induced voltage of the rotary motor 20. Figure 4 The graph shows time on the horizontal axis and voltage on the vertical axis. The thin line 400 represents an example of the time-varying induced voltage when there are no abnormalities in the rotating part 310. The thick line 402 shows an example of the time-varying induced voltage when an abnormality occurs in the rotating part 310. Figure 4 As shown, when an abnormality occurs in the rotating component 310, the amplitude of the induced voltage of the rotating motor 20 increases compared to when no abnormality occurs in the rotating component 310. Therefore, when the measured magnitude of the induced voltage of the rotating motor 20 exceeds a predetermined value, the determination unit 220 can determine that an abnormality has occurred in the rotating component 310.

[0050] Figure 5 This is a graph showing the frequency characteristics of the induced voltage of the rotary motor 20. Figure 5The horizontal axis of the graph represents frequency, and the vertical axis represents voltage. The thin line 500 represents the frequency components obtained by performing a Fourier transform on the time-series data of the induced voltage when there are no abnormalities in the rotating part 310. The thick line 502 represents the frequency components obtained by performing a Fourier transform on the time-series data of the induced voltage when there are abnormalities in the rotating part 310. (The text repeats itself here.) Figure 5 As can be seen, in the case of an abnormality in the rotating part 310 and the case of no abnormality, in the high-frequency region at frequencies f1, f2 and f3, the frequency component of the induced voltage when an abnormality occurs in the rotating part 310 is significantly higher than the frequency component of the induced voltage when no abnormality occurs in the rotating part 310.

[0051] Therefore, the judgment unit 220 calculates the frequency component of the induced voltage of the measured rotary motor 20, and compares the value of the calculated frequency component of the induced voltage with the value of the predetermined frequency component in a frequency domain higher than a predetermined frequency, in order to determine whether an abnormality has occurred in the rotating unit 310. For example, when the value of the calculated frequency component of the induced voltage is greater than the value of the predetermined frequency component multiplied by a predetermined coefficient greater than 1, the judgment unit 220 can determine that an abnormality has occurred in the rotating unit 310.

[0052] Figure 6 It is a graph showing the frequency characteristics of the induced voltage of the rotary motor 20 at each rotational speed of the rotating part 310. Figure 6 The following graphs show the frequency characteristics of the induced voltage when the rotational speed of the rotating part 310 is 1000 rpm, the frequency characteristics of the induced voltage when the rotational speed of the rotating part 310 is 5000 rpm, and the frequency characteristics of the induced voltage when the rotational speed of the rotating part 310 is 13000 rpm. Figure 6 The horizontal axis of the three curves represents frequency, and the vertical axis represents voltage. Additionally, Figure 6 Taking the rotary motor 20, which is a 6-pole motor, as the analysis object, calculations were performed to determine the following scenarios: no abnormality occurred in the rotating part 310; a breakage occurred at one pole of an electromagnet plate 350 in the rotating part 310; and a breakage occurred at one pole of an electromagnet plate 350 in the rotating part 310, resulting in… Figure 2 The gap shown represents the induced voltage under no-load conditions in these three scenarios.

[0053] The thin line 600 of graph 661 shows an example of the frequency characteristics of the induced voltage when no abnormality occurs in the rotating part 310. The medium-thick line 601 of graph 661 shows an example of the frequency characteristics of the induced voltage when a break occurs in the electromagnet plate 350 of the rotating part 310 but no gap is formed. The thick line 602 of graph 661 shows an example of the frequency characteristics of the induced voltage when both a break and a gap occur in the electromagnet plate 350 of the rotating part 310. The thin line 610 of graph 662 shows an example of the frequency characteristics of the induced voltage when no abnormality occurs in the rotating part 310; the medium-thick line 611 of graph 662 shows an example of the frequency characteristics of the induced voltage when the electromagnet plate 350 of the rotating part 310 breaks but no gap is formed; and the thick line 612 of graph 662 shows an example of the frequency characteristics of the induced voltage when both a break and a gap occur in the electromagnet plate 350 of the rotating part 310. Furthermore, the thin line 620 of graph 663 shows an example of the frequency characteristics of the induced voltage when no abnormality occurs in the rotating part 310, the medium-thick line 621 of graph 663 shows an example of the frequency characteristics of the induced voltage when a break occurs in the electromagnet plate 350 of the rotating part 310 but no gap is generated, and the thick line 622 of graph 663 shows an example of the frequency characteristics of the induced voltage when a break occurs in the electromagnet plate 350 of the rotating part 310 and a gap is generated.

[0054] like Figure 6 As shown, at frequencies with an electric angular velocity of 47, 56, and 82, the frequency component with a significant peak value is present at least when a gap is generated in the electromagnetic steel plate 350, while the frequency component with no abnormality is generated in the electromagnetic steel plate 350 does not have a significant peak value.

[0055] When the rotational speed of the rotating part 310 is 1000 rpm, at a frequency of 47 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 11.6 times that of the induced voltage when no abnormality is generated in the rotating part 310. Furthermore, at a frequency of 56 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 11.6 times that of the induced voltage when no abnormality is generated in the rotating part 310. Moreover, at a frequency of 82 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 16.7 times that of the induced voltage when no abnormality is generated in the rotating part 310.

[0056] When the rotational speed of the rotating part 310 is 5000 rpm, at a frequency of 47 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 11.4 times that of the induced voltage when no abnormality is generated in the rotating part 310. Furthermore, at a frequency of 56 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 11.5 times that of the induced voltage when no abnormality is generated in the rotating part 310. Moreover, at a frequency of 82 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 16.1 times that of the induced voltage when no abnormality is generated in the rotating part 310.

[0057] When the rotational speed of the rotating part 310 is 13,000 rpm, at a frequency of 47 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 11.3 times that of the induced voltage when no abnormality is generated in the rotating part 310. Furthermore, at a frequency of 56 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 11.3 times that of the induced voltage when no abnormality is generated in the rotating part 310. Moreover, at a frequency of 82 electrical angular velocities, the frequency component of the induced voltage when a gap is generated in the electromagnetic steel plate 350 is approximately 16.0 times that of the induced voltage when no abnormality is generated in the rotating part 310.

[0058] As described above, in the frequency domain where the electric angular velocity is 47 or higher, there exist multiple frequencies that provide a frequency component that is more than 10 times the frequency component of the induced voltage obtained when the rotating part 310 is not malfunctioning, when a gap is generated in the electromagnetic steel plate 350. Therefore, for example, when at least one frequency exists in the frequency domain above a predetermined frequency that provides a frequency component that is more than 10 times the normal value of the frequency component representing the induced voltage when the rotating part 310 is not malfunctioning, the determination unit 220 can determine that the rotating part 310 has malfunctioned. Here, the "predetermined frequency" can be a frequency where the electric angular velocity of the rotating part 310 is 40 or higher. The "predetermined frequency" can also be a frequency where the electric angular velocity of the rotating part 310 is 30 or higher. Generally, the "predetermined frequency" can be a frequency that is an integer multiple of the electric angular velocity of the rotating part 310 greater than 1.

[0059] The value of the frequency component when the rotating part 310 does not produce any abnormalities can be a value preset as a normal value at the time of manufacture of the vehicle 10. The normal value can be a value obtained by actually measuring the induced voltage of the rotating motor 20 before it leaves the factory. As described above, by using the normal value based on the measured value of the induced voltage of the rotating motor 20 at the time of manufacture, it is less susceptible to individual differences in the rotating motor 20.

[0060] Furthermore, the "value of the frequency component when the rotating part 310 does not produce any abnormalities" can be a normal value calculated based on the values ​​of multiple induced voltages measured during more than 40 diagnostic tests of the rotating motor 20 performed by the diagnostic system after the vehicle 10 leaves the factory. The normal value can be a value calculated based on the frequency components of the N induced voltages measured during the most recent N diagnostic tests. The normal value can be the average value of the frequency components of the N induced voltages measured during the most recent N diagnostic tests. The normal value can be the maximum value of the frequency components of the N induced voltages measured during the most recent N diagnostic tests. N can be a predetermined number of tests.

[0061] In this way, by using the normal value calculated based on the value of the induced voltage measured during the diagnostic test of the rotary motor 20 by the diagnostic system 40 after the vehicle 10 leaves the factory, it is less susceptible to individual differences in the rotary motor 20. Furthermore, there may be cases where the range considered normal may change due to prolonged use of the rotary motor 20. Even in such cases, by calculating the normal value using the measured value of the induced voltage measured during the most recent N diagnostic tests, it is sometimes possible to reliably detect abnormalities such as breakage or gaps in the rotating part 310 while suppressing false detections.

[0062] Typically, the induced voltage of the rotary motor 20 is proportional to the rotational speed of the rotating part 310. Therefore, the judgment unit 220 can use the value obtained by normalizing the frequency component of the induced voltage to the rotational speed of the rotating part 310 to determine if the rotating part 310 is malfunctioning. Thus, the judgment unit 220 can determine if the rotating part 310 is malfunctioning by comparing the value obtained by normalizing the frequency component of the induced voltage to the rotational speed of the rotating part 310 with a specific normal value, regardless of the vehicle speed of the vehicle 10 or the rotational speed of the rotating part 310.

[0063] Figure 7 This is an example of a flowchart related to the diagnostic method involved in the diagnostic system 40. In S702, the execution determination unit 230 determines whether the vehicle 10 is in motion. If the vehicle 10 is not in motion, the determination in S702 is repeated.

[0064] In S704, the execution determination unit 230 determines whether the accelerator pedal has been released. For example, the execution determination unit 230 determines whether the driver of vehicle 10 has released the accelerator pedal. When vehicle 10 performs autonomous driving without relying on the driver's operation, the execution determination unit 230 can determine whether a stop-acceleration control has been executed. In S704, if it is determined that the accelerator pedal has not been released, the processing of this flowchart ends. If it is determined in S704 that the accelerator pedal has been released, the processing proceeds to S706.

[0065] In S706, the execution determination unit 230 determines whether the remaining capacity of the battery 30 is above a predetermined reference value. For example... Figure 7 As shown, the SOC of battery 30 can be used as the reserve of battery 30. Additionally, the predetermined reference value can be 80%. In S706, if it is determined that the reserve of battery 30 is less than the predetermined reference value, the processing of this flowchart ends. In S706, if it is determined that the reserve of battery 30 is above the predetermined reference value, the processing proceeds to S708.

[0066] In S708, the measurement unit 210 stops the energy regeneration from the rotating motor 20 to the storage battery 30. For example, the measurement unit 210 stops the operation of the power converter 32 to convert the power generated in the rotating motor 20 into DC power to charge the storage battery 30.

[0067] In S710, as a control mode related to the braking of the vehicle 10, the diagnostic system 40 sets a control mode that prevents the regenerative brake based on the rotary motor 20 from operating in response to a braking request, while the mechanical brake of the vehicle 10 operates.

[0068] In S712, the measurement unit 210 measures the induced voltage of the rotary motor 20. For example, the measurement unit 210 measures the induced voltage of the rotary motor 20 by obtaining the measurement result of the output voltage of the rotary motor 20 from the voltage sensor provided in the power converter 32.

[0069] In S714, the determination unit 220 determines whether the state in which the evaluated value of the induced voltage is above a predetermined value has lasted for a predetermined time or more. The predetermined time may be, for example, approximately 0.6 seconds. Furthermore, the "evaluated value of the induced voltage" can be the value of the induced voltage itself. The "evaluated value of the induced voltage" can be a frequency component in a specific frequency domain obtained by performing a frequency domain conversion process such as FFT on the time-series data of the induced voltage. In S714, if it is determined that the state in which the evaluated value of the induced voltage is above a predetermined value has not lasted for a predetermined time or more, the processing in this flowchart ends. If it is determined in S714 that the state in which the evaluated value of the induced voltage is above a predetermined value has lasted for a predetermined time or more, the processing proceeds to S716.

[0070] In S716, the notification unit 270 notifies at least one of the driver, passengers, and owner of the vehicle 10 of the possibility that an abnormality may occur in the rotating part 310. Thus, at least one of the driver, passengers, and owner of the vehicle 10 can recognize the possibility of an abnormality occurring in the rotating part 310. Furthermore, the destination of the abnormality notification sent via the notification unit 270 can be a pre-registered notification destination in the diagnostic system 40.

[0071] Additionally, refer to Figure 7 The processing described in this flowchart can begin periodically at predetermined intervals.

[0072] As described above, according to the diagnostic system 40, abnormalities in the rotating part 310 can be detected by utilizing the change in the magnetic circuit caused by an abnormality in the fixed part 390. Therefore, abnormalities in the rotating part 310 can be detected without installing stress sensors or the like on the rotating part 310 for monitoring. Thus, abnormalities in the rotating part can be detected without complicating the structure of the rotary motor. Furthermore, there is no need to add a sliding part for signal transmission, and the reliability of the measured values ​​is not degraded by noise. Therefore, fatigue fracture and signs of fatigue fracture in the electromagnetic steel plate can be detected more accurately and earlier. As a result, the rotary motor can be used for a long time, close to its product lifespan.

[0073] Furthermore, vehicle 10 is an example of transportation equipment. Transportation equipment includes cars, buses, and other automobiles, saddle-mounted vehicles, bicycles, etc. Transportation equipment is an example of a moving body. Diagnostic system 40 is applicable to the diagnosis of rotating motors present in any moving body.

[0074] Figure 8 Examples of computer 2000 that may embody all or part of the various embodiments of the present invention are shown. Programs installed on the computer 2000 enable the computer 2000 to function as units of the diagnostic system 40, etc., according to the embodiments, to perform operations associated with the system or its units, and / or to perform processes or steps of the processes according to the embodiments. Such programs may be executed by CPU 2012 to enable the computer 2000 to perform the processing flow described herein and specific operations associated with several or all of the functional blocks in the block diagram.

[0075] The computer 2000 based on this embodiment includes a CPU 2012 and RAM 2014, which are interconnected via a main controller 2010. The computer 2000 also includes a ROM 2026, flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, flash memory 2024, communication interface 2022, and input / output chip 2040 are connected to the main controller 2010 via an input / output controller 2020.

[0076] CPU2012 operates according to the programs stored in ROM2026 and RAM2014, thereby controlling each unit.

[0077] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 within the computer 2000. The ROM 2026 stores startup programs executed by the computer 2000 when activated, and / or programs dependent on the hardware of the computer 2000. The input / output chip 2040 can also connect various input / output units such as keyboards, mice, and monitors to the input / output controller 2020 via input / output ports such as serial ports, parallel ports, keyboard ports, mouse ports, monitor ports, USB ports, and HDMI (registered trademark) ports.

[0078] The program is provided via a computer-readable medium such as a CD-ROM, DVD-ROM, or USB flash drive, or via a network. RAM 2014, ROM 2026, or flash memory 2024 are examples of computer-readable media. The program is installed into flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described within these programs is read by computer 2000, enabling cooperation between the program and the aforementioned types of hardware resources. The apparatus or method can be configured to perform information manipulation or processing in accordance with the use of computer 2000.

[0079] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 can execute a communication program loaded into the RAM 2014, and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads the transmission data stored in the transmission buffer processing area provided in the recording medium such as the RAM 2014 and the flash memory 2024, sends the read transmission data to the network, and writes the received data received from the network to the receive buffer processing area provided on the recording medium, etc.

[0080] In addition, CPU 2012 can read all or a required portion of a file or database stored in a recording medium such as flash memory 2024 into RAM 2014, and perform various processing on the data in RAM 2014. CPU 2012 then writes the processed data back to the recording medium.

[0081] Various types of information, such as programs, data, tables, and databases, can be saved to the recording medium and applied to information processing. The CPU 2012 can perform various operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc., as described in this specification, on data read from the RAM 2014, and write the results back to the RAM 2014. Furthermore, the CPU 2012 can retrieve information from files, databases, etc., within the recording medium. For example, if multiple items, each having an attribute value associated with a second attribute, are stored in the recording medium, the CPU 2012 can retrieve the item whose first attribute value matches the condition from these multiple items, read the second attribute value stored in that item, and thereby obtain the second attribute value associated with the first attribute that satisfies a preset condition.

[0082] The programs or software modules described above can be stored on or near the computer 2000 on a computer-readable medium. Recording media such as hard disks or RAM provided in server systems connected to a dedicated communication network or the Internet can be used as computer-readable media. Programs stored on computer-readable media can be provided to the computer 2000 via a network.

[0083] The programs installed in the computer 2000, enabling the computer 2000 to function as the diagnostic system 40, can operate in the CPU 2012, etc., thereby allowing the computer 2000 to function as each unit of the diagnostic system 40. The information processing described in these programs is read into the computer 2000, thus functioning as specific units that cooperate with the software and the various hardware resources described above, i.e., each unit of the diagnostic system 40. Furthermore, by utilizing these specific units to perform calculations or processing of information corresponding to the intended use of the computer 2000 in this embodiment, a diagnostic system 40 specific to that intended use is constructed.

[0084] Various embodiments have been described with reference to block diagrams, etc. In the block diagrams, each functional block may represent (1) a step of an operation process or (2) a unit of a device having the function of performing the operation. Specific steps and units may be implemented by dedicated circuits, programmable circuits supplied together with computer-readable instructions stored on a computer-readable medium, and / or processors supplied together with computer-readable instructions stored on a computer-readable medium. Dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include logic AND, logic OR, logic XOR, logic NAND, logic NOR, and other logic operations, flip-flops, registers, field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and other reconfigurable hardware circuits including memory elements.

[0085] A computer-readable medium can include any tangible device capable of storing instructions executable by a suitable device, such that the computer-readable medium having the instructions stored therein constitutes at least a portion of a product containing instructions executable for implementing units that perform operations specified in a process flow or block diagram. Examples of computer-readable media include electrical storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media include floppy disks (registered trademark), floppy magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), optical disc read-only memory (CD-ROM), digital multipurpose disk (DVD), Blu-ray (RTM) discs, memory sticks, integrated circuit cards, etc.

[0086] Computer-readable instructions may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine delegate instructions, microcode, firmware instructions, status setting data, or any type of source code or object code described by any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, JAVA (registered trademark), C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0087] Computer-readable instructions are provided via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device. These computer-readable instructions can be executed to implement units that perform the operations specified in the described processing flow or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, and microcontrollers.

[0088] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. Such modifications or improvements can also be included within the technical scope of the present invention, as is evident from the claims.

[0089] Regarding the execution order of actions, processes, steps, and procedures in the apparatus, system, program, and method shown in the claims, specification, and drawings, it should be noted that unless explicitly stated as "before" or "firstly," any order is permissible as long as the output of a previous process is not used in a subsequent process. Even if terms such as "firstly" or "next" are used for convenience in describing the flow of actions in the claims, specification, and drawings, this does not imply that the actions must be performed in that specific order.

[0090] [Explanation of reference numerals in the attached figures]

[0091] 10 vehicles

[0092] 12 wheels

[0093] 16-axle

[0094] 20 rotary motors

[0095] 30 battery

[0096] 32 power converter

[0097] 40 Diagnostic System

[0098] 200 Processing Department

[0099] 210 Measurement Department

[0100] 220 Judgment Department

[0101] 230 Execution Judgment Department

[0102] 250 kWh energy storage unit

[0103] 260 requested access department

[0104] 270 Notification Department

[0105] 290 Storage Division

[0106] 310 Rotating Part

[0107] 312 core

[0108] 318 protrusion

[0109] 320 Magnet Insertion Hole

[0110] 330 permanent magnet

[0111] 340 gap

[0112] 350 Electromagnetic steel plate, 360 Rotating shaft, 390 Fixing part, 400 Fine wire

[0113] 402 thick wire

[0114] 500 fine thread

[0115] 502 thick wire

[0116] 600 fine thread

[0117] 601 medium-thickness wire, 602 thickness wire

[0118] 610 fine thread

[0119] 611 medium-thickness line, 612 thickness line

[0120] 620 fine thread

[0121] 621 (medium-thick line), 622 (thick line), 661, 662, 663 (curve graphs) 2000 Computer 2010 Main Controller 2012 CPU

[0122] 2014 RAM

[0123] 2020 Input / Output Controller; 2022 Communication Interface; 2024 Flash Memory; 2026 ROM

[0124] 2040 input / output chip.

Claims

1. A diagnostic system for diagnosing the rotating part of a rotary motor in a vehicle while the vehicle is in motion, wherein, have: The measurement unit, during the diagnosis of the rotating part, stops the charging of the rotating motor to the battery of the vehicle, and measures the induced voltage of the rotating motor generated by the rotation of the rotating part; and The judgment unit determines that the rotating part is abnormal if the magnitude of the induced voltage is above a predetermined value; In the case of diagnosing the rotating part, the system is configured to operate the mechanical brake of the vehicle instead of the regenerative brake based on the rotating motor in response to a braking request.

2. A diagnostic system for diagnosing the rotating part of a rotary motor in a vehicle while the vehicle is in motion, wherein, have: The measurement unit, when diagnosing the rotating part, stops charging from the rotating motor to the battery of the vehicle and measures the induced voltage of the rotating motor generated by the rotation of the rotating part. The judgment unit determines that the rotating part is abnormal if the magnitude of the induced voltage is above a predetermined value; as well as The execution determination unit determines that the diagnosis of the rotation unit should be performed if the acceleration of the vehicle is not requested.

3. A diagnostic system that diagnoses the rotating part of a rotary motor in a vehicle while the vehicle is in motion, wherein, have: The measurement unit, when diagnosing the rotating part, stops charging from the rotating motor to the battery of the vehicle and measures the induced voltage of the rotating motor generated by the rotation of the rotating part. The judgment unit determines that the rotating part is abnormal if the magnitude of the induced voltage is above a predetermined value; The energy storage acquisition unit acquires the energy storage capacity of the battery. as well as If the battery's charge level is above a predetermined reference value, the execution determination unit determines that the rotation unit should be diagnosed.

4. The diagnostic system according to any one of claims 1 to 3, wherein, It also includes a notification unit that notifies the rotating part of an abnormality when the magnitude of the induced voltage is above a predetermined value.

5. The diagnostic system according to any one of claims 1 to 3, wherein, The predetermined value is determined using the value set when the vehicle leaves the factory.

6. The diagnostic system according to any one of claims 1 to 3, wherein, The predetermined value is determined based on a plurality of previously measured induced voltages.

7. The diagnostic system according to any one of claims 1 to 3, wherein, If the frequency component of the induced voltage in the frequency domain that is an integer multiple of 1 of the electric angular velocity of the rotating part is greater than the predetermined value, the determination unit determines that the rotating part is abnormal.

8. The diagnostic system according to any one of claims 1 to 3, wherein, If the frequency component of the induced voltage in the frequency domain, which is more than 40 times the electrical angular velocity of the rotating part, is above the predetermined value, the determination unit determines that the rotating part is abnormal.

9. The diagnostic system according to any one of claims 1 to 3, wherein, If the value obtained by standardizing the induced voltage with respect to the rotational speed is above the predetermined value, the determination unit determines that the rotating part is abnormal.

10. A vehicle, wherein, A diagnostic system comprising any one of claims 1 to 9.

11. A diagnostic method for diagnosing the rotating part of a rotary motor in a vehicle while the vehicle is in motion, wherein, have: In the case of diagnosing the rotating part, the charging of the vehicle's battery from the rotating motor is stopped, and the induced voltage of the rotating motor generated by the rotation of the rotating part is measured. The step of determining that the rotating part is abnormal when the magnitude of the induced voltage is above a predetermined value; as well as In the case of diagnosing the rotating part, the step is to set a mode in which, in response to a braking request, the mechanical brake of the vehicle is activated instead of the regenerative brake based on the rotating motor.

12. A diagnostic method for diagnosing the rotating part of a rotary motor in a vehicle while the vehicle is in motion, wherein, have: In the case of diagnosing the rotating part, the charging of the vehicle's battery from the rotating motor is stopped, and the induced voltage of the rotating motor generated by the rotation of the rotating part is measured. The step of determining that the rotating part is abnormal when the magnitude of the induced voltage is above a predetermined value; as well as Without requesting acceleration of the vehicle, the step of performing a diagnostic test on the rotating part is determined.

13. A diagnostic method for diagnosing the rotating part of a rotary motor in a vehicle while the vehicle is in motion, wherein... have: In the case of diagnosing the rotating part, the charging of the vehicle's battery from the rotating motor is stopped, and the induced voltage of the rotating motor generated by the rotation of the rotating part is measured. The step of determining that the rotating part is abnormal when the magnitude of the induced voltage is above a predetermined value; The steps for obtaining the stored capacity of the battery; and If the battery's charge level is above a predetermined reference value, a step is determined to perform a diagnostic test on the rotating part.

14. A computer-readable storage medium storing a program for a diagnostic system that performs diagnostics on the rotating part of a rotary motor of a vehicle while the vehicle is in motion, wherein... The program enables the computer to function as follows: The measurement unit, when diagnosing the rotating part, stops charging from the rotating motor to the vehicle's battery and measures the induced voltage of the rotating motor generated by the rotation of the rotating part; and The judgment unit determines that the rotating part is abnormal if the magnitude of the induced voltage is above a predetermined value; In the case of diagnosing the rotating part, the system is configured to operate the mechanical brake of the vehicle instead of the regenerative brake based on the rotating motor in response to a braking request.

15. A computer-readable storage medium storing a program for a diagnostic system that performs diagnostics on the rotating parts of a rotary motor in a vehicle while the vehicle is in motion, wherein... The program enables the computer to function as follows: The measurement unit, when diagnosing the rotating part, stops charging from the rotating motor to the battery of the vehicle and measures the induced voltage of the rotating motor generated by the rotation of the rotating part. The judgment unit determines that the rotating part is abnormal if the magnitude of the induced voltage is above a predetermined value; as well as The execution determination unit determines that the diagnosis of the rotation unit should be performed if the acceleration of the vehicle is not requested.

16. A computer-readable storage medium storing a program for a diagnostic system that performs diagnostics on the rotating parts of a rotary motor in a vehicle while the vehicle is in motion, wherein... The program enables the computer to function as follows: The measurement unit, when diagnosing the rotating part, stops charging from the rotating motor to the battery of the vehicle and measures the induced voltage of the rotating motor generated by the rotation of the rotating part. The judgment unit determines that the rotating part is abnormal if the magnitude of the induced voltage is above a predetermined value; The energy storage acquisition unit acquires the energy storage capacity of the battery. as well as If the battery's charge level is above a predetermined reference value, the execution determination unit determines that the rotation unit should be diagnosed.

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