Control device for rotating electric machines

Abstract

This invention provides a control device for a rotating electric motor, which, in a control device that uses multiple arithmetic processing units to control a rotating electric motor, can determine the abnormality of the calculation unit that calculates the voltage command values ​​on the d-axis and q-axis rotational coordinate system by other arithmetic processing units, without adding a new arithmetic processing unit for detecting abnormalities. In the control device for a rotating electric motor of this invention, a second arithmetic processing unit (12) calculates the control voltage command values ​​on the d-axis and q-axis rotational coordinate system based on the current command values ​​obtained from a first arithmetic processing unit (11), the first arithmetic processing unit (11) calculates the determination voltage command values ​​on the d-axis and q-axis rotational coordinate system based on the current command values, and compares the control voltage command values ​​obtained from the second arithmetic processing unit (12) with the determination voltage command values ​​to determine whether the second arithmetic processing unit (12) has malfunctioned.

Description

Technical Field

[0001] This application relates to a control device for a rotating electric machine. Background Technology

[0002] In recent years, due to societal demands for low fuel consumption and low emissions, electric vehicles and hybrid vehicles equipped with rotating electric motors have gained attention as vehicle power sources. For example, in hybrid vehicles, a power converter, consisting of an inverter, connects a DC power source (such as a secondary battery) to a rotating electric motor. The inverter converts the DC voltage of the DC power source into AC voltage, thereby driving the rotating electric motor.

[0003] In the control devices of rotating motors installed in hybrid and electric vehicles, microcomputers and other computing devices process detection data from various sensors to perform vector control with high current responsiveness. To achieve this processing and vector control, a combination of high-performance microcomputers and multiple hardware or software components is required.

[0004] In addition, in the control device of a rotating electric machine, malfunctions of various sensors or microcomputers can have a significant impact on the user, so it is necessary to detect these malfunctions.

[0005] To address this issue, in Patent Document 1, the verification device, which is hardware, is set up separately from the microcomputer. The verification device performs the same or simplified calculations independently of the microcomputer. By comparing the calculation outputs of the microcomputer and the verification device, the internal state can be inferred, and abnormalities in the microcomputer's control calculations can be detected.

[0006] In Patent Document 2, software monitoring processing can be set up inside the microcomputer without using other hardware to monitor whether the microcomputer's control operations are executed normally.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent No. 4496205

[0010] Patent Document 2: Japanese Patent No. 5652434

[0011] Patent Document 3: Japanese Patent No. 5977589 Summary of the Invention

[0012] The technical problem that the invention aims to solve

[0013] The problem with Patent Document 1 is that, in actual motor control, simply monitoring the internal state as a safety design is insufficient. In addition, the cost is increased by setting up a microcomputer for sequential execution control software and other control microcomputers.

[0014] The problem with Patent Document 2 is that although it is possible to detect abnormalities in the control operations of a microcomputer without using other hardware, it increases the cost of the microcomputer because the same control operations are performed in parallel with the control operations for monitoring.

[0015] The problem with Patent Document 3 is that, in practical applications, it is necessary to set a threshold for detection, which will take time to implement the evaluation based on the motor specifications.

[0016] Therefore, the object of the present invention is to provide a control device for a rotating electric motor that, in a control device that uses multiple arithmetic processing devices to control a rotating electric motor, can determine the abnormality of the calculation unit that calculates the voltage command values ​​on the rotating coordinate system of the d-axis and q-axis by other arithmetic processing devices, without adding a new arithmetic processing device for detecting abnormalities.

[0017] Technical means for solving technical problems

[0018] The control device for the rotating electric machine involved in this application controls a rotating electric machine with multi-phase armature windings via a power converter, including:

[0019] First arithmetic processing unit; and

[0020] A second processing unit that communicates with the first processing unit.

[0021] The first processing unit includes a control parameter calculation unit, which calculates current command values ​​in the rotational coordinate system of the d-axis and q-axis, which rotate synchronously with the electrical angle of the rotor of the rotary motor.

[0022] The second processing unit includes a voltage command value calculation unit for control, which calculates the voltage command value for control in the rotating coordinate system of the d-axis and q-axis based on the current command value obtained from the first processing unit via communication.

[0023] The first arithmetic processing device includes: a voltage command value calculation unit for determination, which calculates a voltage command value for determination on the rotating coordinate system of the d-axis and q-axis based on the current command value; and an anomaly determination unit, which compares the voltage command value for control obtained from the second arithmetic processing device via communication with the voltage command value for determination, thereby determining whether an anomaly has occurred in the voltage command value calculation unit for control.

[0024] Invention Effects

[0025] Since the first arithmetic processing unit, which includes a control parameter calculation unit for calculating current command values ​​in the rotating coordinate system of the d-axis and q-axis, also includes a voltage command value calculation unit and an anomaly determination unit, anomalies in the control voltage command value calculation unit for calculating control voltage command values ​​in the rotating coordinate system of the d-axis and q-axis can be determined by other first arithmetic processing units without requiring additional arithmetic processing units for anomaly detection. Furthermore, since anomalies are determined using voltage command values ​​in the rotating coordinate system of the d-axis and q-axis as DC components, it is not necessary to determine anomalies within a calculation cycle shorter than the AC cycle, allowing for the determination of anomalies in the control voltage command value calculation unit without increasing the calculation cycle speed of the first arithmetic processing unit. Attached Figure Description

[0026] Figure 1 This is a simplified structural diagram of the rotary motor, power converter, and control device according to Embodiment 1.

[0027] Figure 2 This is a simplified block diagram of the control device involved in Embodiment 1.

[0028] Figure 3 This is a hardware structure diagram of the control device involved in Implementation Method 1.

[0029] Figure 4 This is a timing diagram of the control device processing involved in Implementation Method 1.

[0030] Figure 5 This is a flowchart of the abnormality determination unit involved in Implementation Method 1.

[0031] Figure 6 This is a timing diagram used to illustrate the abnormality determination action involved in Implementation Method 1.

[0032] Figure 7 This is a diagram used to explain the setting of the determination value involved in Implementation Method 2.

[0033] Figure 8 This is a diagram used to explain the setting of the determination value involved in Implementation Method 2.

[0034] Figure 9 This is a diagram used to explain the setting of the determination value involved in Implementation Method 2.

[0035] Figure 10 This is a diagram used to explain the setting of the determination value involved in Implementation Method 2.

[0036] Figure 11 This is a diagram used to explain the setting of the determination time of the d-axis in Embodiment 3.

[0037] Figure 12 This is a diagram used to explain the setting of the determination time of the q-axis in Implementation Method 3.

[0038] Figure 13 This is a timing diagram used to illustrate the abnormality determination action involved in Implementation Method 3.

[0039] Figure 14 This is a timing diagram used to illustrate the abnormality determination action involved in Implementation Method 3. Detailed Implementation

[0040] 1. Implementation Method 1

[0041] Referring to the accompanying drawings, the control device 10 of the rotary electric machine according to Embodiment 1 (hereinafter referred to as the control device 10) will be described. Figure 1 This is a simplified structural diagram of the rotary motor 1, power converter 4, and control device 10 of this embodiment.

[0042] 1-1. Rotary motor 1

[0043] The rotating electric motor 1 includes a stator and a rotor disposed radially inside the stator. The stator has a multi-phase armature winding (in this example, a three-phase armature winding Cu, Cv, and Cw of phases U, V, and W). The rotor contains permanent magnets; therefore, the rotating electric motor 1 is a permanent magnet type synchronous rotating electric motor. The three-phase armature windings can be star-connected or delta-connected.

[0044] The rotor is equipped with a rotation sensor 2 for detecting the rotor's rotation angle. A rotary transformer, encoder, MR sensor, etc., are used in the rotation sensor 2. The output signal of the rotation sensor 2 is input to the control device 10. As will be described later, the rotation sensor 2 may be omitted, and a sensorless structure based on current information to estimate the angle may be used instead.

[0045] 1-2. Power Converter 4

[0046] The inverter is used as power converter 4. Alternatively, a power converter other than an inverter, such as a matrix converter, can also be used as power converter 4.

[0047] In inverter 4, three sets of series circuits (arms) are provided corresponding to each phase of the three-phase system. Each series circuit connects a switching element SP, which is connected to the positive side of the DC power supply 3, and a switching element SN, which is connected to the negative side of the DC power supply 3. The connection point of the two switching elements in the series circuit of each phase is connected to the armature winding of the corresponding phase.

[0048] Specifically, in the series circuit of phase U, the switching element SCu on the positive side of phase U and the switching element SNu on the negative side of phase U are connected in series, and the connection point of the two switching elements is connected to the armature winding Cu of phase U. In the series circuit of phase V, the switching element SPv on the positive side of phase V and the switching element SNv on the negative side of phase V are connected in series, and the connection point of the two switching elements is connected to the armature winding Cv of phase V. In the series circuit of phase W, the switching element SPw on the positive side of phase W and the switching element SNw on the negative side of phase W are connected in series, and the connection point of the two switching elements is connected to the AC armature winding Cw of phase W. The smoothing capacitor 5 is connected between the positive and negative sides of the DC power supply 3.

[0049] For the switching elements, IGBTs (Insulated Gate Bipolar Transistors), MOSFETs (Metal Oxide Semiconductor Field Effect Transistors), and bipolar transistors with diodes connected in reverse parallel are used. The gate terminals of each switching element are connected to the control device 10 via gate drive circuits, etc. Each switching element is turned on or off by a switching signal output from the control device 10.

[0050] DC power supply 3 outputs DC voltage Vdc to inverter 4. DC power supply 3 can be any device that outputs DC voltage Vdc, such as a battery, DC-DC converter, diode rectifier, or PWM rectifier. A voltage sensor 7 is provided to detect the DC voltage Vdc supplied to inverter 4 from DC power supply 3. Voltage sensor 7 is connected in parallel with DC power supply 3. The output signal of voltage sensor 7 is input to control device 10.

[0051] A current sensor 6 is provided to detect the current flowing through each phase armature winding. The current sensor 6 is a current sensor such as a shunt resistor or a Hall element. The output signal of the current sensor 6 is input to the control device 10.

[0052] In this embodiment, the current sensor 6 is installed on the wires connecting the series circuit of the two switching elements of each phase and the coils of each phase. Alternatively, the current sensor 6 can be installed in the series circuit of the two switching elements of each phase. Or, the current sensor 6 can be installed on the wires connecting the inverter 4 and the DC power supply 3, and the current of the armature winding of each phase can be detected by the known "bus 1 shunt method".

[0053] 1-3. Control device 10

[0054] Control device 10 controls rotary motor 1 via inverter 4. For example... Figure 2 As shown, the control device 10 includes a first arithmetic processing unit 11 and a second arithmetic processing unit 12. The first arithmetic processing unit 11 and the second arithmetic processing unit 12 communicate with each other. In this embodiment, the control device 10 includes an input circuit 13, an output circuit 14, and a communication circuit 15. The input circuit 13 communicates with the first arithmetic processing unit 11 and the second arithmetic processing unit 12, the output circuit 14 communicates with the second arithmetic processing unit 12, and the communication circuit 15 communicates with the first arithmetic processing unit 11. Serial communication or parallel communication, such as a serial peripheral interface, is used for communication between the various devices and circuits.

[0055] The first processing unit 11 includes a control parameter calculation unit 111, a voltage command value calculation unit 112 for judgment, and an abnormality judgment unit 113, etc. The second processing unit 12 includes a voltage command value calculation unit 121 for control, and a switch control unit 122, etc.

[0056] The functions of each processing unit 111 to 113 of the first arithmetic processing device 11 are implemented by the processing circuitry of the first arithmetic processing device 11. In this embodiment, as... Figure 3As shown, the first arithmetic processing unit 11 includes a CPU 11a (Central Processing Unit) and a storage device 11b as processing circuits. The storage device 11b includes RAM (Random Access Memory), ROM (Read Only Memory), and EEPROM (Electrically Erasable Programmable ROM). The CPU 11a executes the software (program) stored in the storage device 11b, such as the ROM and EEPROM, and cooperates with the storage device 11b, communication circuit 15, input circuit 13, and other hardware such as the second arithmetic processing unit 12 to realize the various functions of each processing unit 111-113. Furthermore, the setting data such as current command values, control gain, decision value Vth, decision time Terr, and counter decision value Cth used by each processing unit 111-113 are stored as part of the software (program) in the storage device 11b, such as the ROM and EEPROM.

[0057] The functions of each processing unit 121, 122 of the second arithmetic processing device 12 are implemented by the processing circuitry of the second arithmetic processing device 12. In this embodiment, as... Figure 3 As shown, the second arithmetic processing unit 12, as a processing circuit, includes application-specific integrated circuits 12a such as ASICs (Application Specific Integrated Circuits) and FPGAs (Field Programmable Gate Arrays). The functions of each processing unit 121 and 122 are achieved through hardware processing performed by the second arithmetic processing unit 12 and in cooperation with other hardware such as the input circuit 13, the output circuit 14, and the first arithmetic processing unit 11.

[0058] In addition, the first arithmetic processing device 11 and the second arithmetic processing device 12 may include various logic circuits, various signal processing circuits, etc. as peripheral processing circuits.

[0059] The input circuit 13 is connected to various sensors such as a current sensor 6, a rotation sensor 2, and a voltage sensor 7, and includes an A / D converter and communication circuitry for acquiring the output signals of these sensors. In this embodiment, the input circuit 13 acquires the output signals of the current sensor 6, the rotation sensor 2, and the voltage sensor 7 based on instruction signals sent from the second arithmetic processing unit 12, and sends the acquired output signals of each sensor to the second arithmetic processing unit 12. For example, based on a trigger signal sent from the second arithmetic processing unit 12 in each second arithmetic cycle T2, the sensor output signals are converted to digital values ​​(A / D), and the A / D conversion value is sent to the second arithmetic processing unit 12.

[0060] The output circuit 14 includes a gate drive circuit for turning the switching elements on and off. High / low signals output from the output port of the second processing unit 12 are input to the output circuit 14, driving the drive circuit. The communication circuit 15 communicates with the external device 16 according to instructions from the first processing unit 11. Communication with the external device uses communication standards such as CAN (Controller Area Network) and LIN (Local Interconnect Network).

[0061] Figure 4 A sequence diagram of the processing of each of the first processing unit 11 and the second processing unit 12 is shown.

[0062] 1-3-1. Input Circuit 13

[0063] The input circuit 13 acquires the output signal of the current sensor 6 based on the trigger signal sent from the second arithmetic processing device 12 and sends it to the second arithmetic processing device 12. In this embodiment, the input circuit 13 performs A / D conversion on the output signal representing the current value of each phase of the current sensor 6 based on the trigger signal sent from the second arithmetic processing device 12 in each second arithmetic cycle T2, and sends the A / D converted value of each phase current signal to the second arithmetic processing device 12.

[0064] The input circuit 13 acquires the output signal of the rotation sensor 2 based on the trigger signal sent from the second arithmetic processing unit 12, and sends it to the second arithmetic processing unit 12. In this embodiment, the input circuit 13 performs A / D conversion on the output signal representing the rotation angle of the rotation sensor 2 based on the trigger signal sent from the second arithmetic processing unit 12 in each second arithmetic cycle T2, and sends the A / D converted value of the angle signal to the second arithmetic processing unit 12. Furthermore, the input circuit 13 sends the output signal of the rotation sensor 2 to the first arithmetic processing unit 11.

[0065] The input circuit 13 acquires the output signal of the voltage sensor 7 based on the trigger signal sent from the second arithmetic processing unit 12, and sends it to the second arithmetic processing unit 12. In this embodiment, the input circuit 13 performs A / D conversion on the output signal representing the DC voltage Vdc of the voltage sensor 7 based on the trigger signal sent from the second arithmetic processing unit 12 in each second arithmetic cycle T2, and sends the A / D converted value of the voltage signal to the second arithmetic processing unit 12. Furthermore, the input circuit 13 sends the output signal of the voltage sensor 7 to the first arithmetic processing unit 11.

[0066] 1-3-2. Control Parameter Calculation Unit 111

[0067] The control parameter calculation unit 111 calculates the current command value in the rotational coordinate system of the d-axis and q-axis, which rotate synchronously with the rotor of the rotating electric machine in electrical angle. The control parameter calculation unit 111 calculates the current command value in each first calculation cycle T1 and sends the current command value to the voltage command value calculation unit 121 for control of the second calculation processing device 12. The first calculation cycle T1 is longer than the second calculation cycle T2.

[0068] The d-axis is defined in the direction of the rotor's magnetic pole (N pole), and the q-axis is defined in the direction where the electrical angle is 90 degrees ahead of the d-axis. For example, the control parameter calculation unit 111 calculates the d-axis current command value Idref and the q-axis current command value Iqref based on the torque command value To, the rotational angular velocity ω, and the DC voltage Vdc sent from the external device 16. Known maximum torque current control and flux weakening control are used for the calculation. Furthermore, when using Id=0 control, since the d-axis current command value Idref is 0, only the q-axis current command value Iqref is calculated. The rotational angular velocity ω is calculated based on the rotation angle θ sent from the input circuit 13. Instead of the torque command value To, other command values ​​such as the rotor speed command value and the generator current command value can be used.

[0069] The control parameter calculation unit 111 calculates the control gain. In each first calculation cycle T1, the control parameter calculation unit 111 calculates the control gain and sends the control gain to the voltage command value calculation unit 121 for control in the second calculation processing device 12. In this embodiment, the control gain is the proportional gain Kdp of the d-axis, the integral gain Kdi of the d-axis, the proportional gain Kqp of the q-axis, and the integral gain Kqi of the q-axis.

[0070] When the voltage command value calculation unit 121 for control performs non-interference control for non-interference between the known d-axis and q-axis, the control parameter calculation unit 111 calculates the control gain for non-interference control based on the rotational angular velocity ω, etc., in each first calculation cycle T1, and sends the control gain to the voltage command value calculation unit 121 for control of the second calculation processing device 12.

[0071] 1-3-3. Voltage command value calculation unit 121 for control

[0072] The control voltage command value calculation unit 121 calculates the control voltage command value in the rotating coordinate system of the d-axis and q-axis based on the current command value obtained from the first arithmetic processing unit 11 (control parameter calculation unit 111) via communication. The control voltage command value calculation unit 121 calculates the control voltage command value in each second arithmetic cycle T2.

[0073] The control voltage command value calculation unit 121 sends a trigger signal to the input circuit 13 in each second operation cycle T2, and obtains information from the input circuit 13 about the detected current values ​​Iuact, Ivact, Iwact, rotation angle θ, and DC voltage Vdc flowing through the three-phase armature winding. Then, in each second operation cycle T2, the control voltage command value calculation unit 121 calculates the current detection values ​​in the d-axis and q-axis rotating coordinate systems based on the current detection values ​​Iuact, Ivact, Iwact of the three-phase armature winding and the rotation angle θ at the electrical angle of the rotor. Specifically, the control voltage command value calculation unit 121 performs known three-phase to two-phase conversion and rotating coordinate conversion on the current detection values ​​Iuact, Ivact, Iwact of the three-phase armature winding based on the rotation angle θ, thereby converting the current detection values ​​Iuact, Ivact, Iwact of the three-phase armature winding into the d-axis current detection value Idact and the q-axis current detection value Iqact.

[0074] The current sensor 6 is configured to detect the current of two-phase armature windings, and can calculate the current of the remaining armature winding based on the detected current values ​​of the two-phase armature windings. For example, the current sensor 6 can detect the currents Ivact and Iwact of the V-phase and W-phase armature windings, and calculate the current Iuact of the U-phase armature winding using Iuact = -Ivact - Iwact.

[0075] The voltage command value calculation unit 121 for control sends the calculated current detection value to the first calculation processing device 11 (voltage command value calculation unit 112 for determination) in each second calculation cycle T2 (or the first calculation cycle T1).

[0076] Then, in each second operation cycle T2, the voltage command value calculation unit 121 calculates the control voltage command value based on the current detection value and the current command value obtained from the first operation processing device 11 (control parameter calculation unit 111) via communication. At this time, the control voltage command value calculation unit 121 uses the control gain obtained from the first operation processing device 11 (control parameter calculation unit 111) via communication to calculate the control voltage command value. In the case of performing known non-interference control between the d-axis and q-axis, the control voltage command value calculation unit 121 calculates a non-interference control value based on the non-interference control gain and the current detection value obtained from the first operation processing device 11 (control parameter calculation unit 111) via communication, and corrects the control voltage command value using the non-interference control value. Furthermore, the current command value and control gain are transmitted in each first operation cycle T1, which is longer than the second operation cycle T2, so the most recently transmitted current command value and control gain are used.

[0077] The voltage command value calculation unit 121 for control calculates the voltage command value for control based at least on the integral value obtained by integrating the deviation between the current detection value and the current command value. In this embodiment, the current along the d-axis and the current along the q-axis are configured to be controlled separately using PI control.

[0078] Specifically, the voltage command value calculation unit 121 for control calculates the current deviation ΔId2 between the current command value Idref and the current detection value Idact of the d-axis, multiplies the current deviation ΔId2 by the proportional gain Kdp of the d-axis, calculates the proportional term Vdp2 for control of the d-axis, multiplies the current deviation ΔId2 by the integral gain Kdi of the d-axis and the value obtained after the second operation cycle T2, and adds it to the integral term Vdi2(n-1) for control of the d-axis calculated in the previous operation cycle (n-1), calculates the integral term Vdi2(n) for control of the d-axis in the current operation cycle (n), and adds the proportional term Vdp2 and the integral term Vdi2(n) for control of the d-axis in the current operation cycle to calculate the voltage command value Vdref2 for control of the d-axis.

[0079] ΔId2=Idref-Idact

[0080] Vdp2=Kdp×ΔId2

[0081] Vdi2(n)=Kdi×T2×ΔId2+Vdi2(n-1) Vdref2=Vdp2+Vdi2(n)…(1)

[0082] Furthermore, as shown in the following formula, the voltage command value calculation unit 121 for control calculates the control current deviation ΔIq2 between the current command value Iqref of the q-axis and the current detection value Idact of the q-axis. It multiplies the control current deviation ΔIq2 of the q-axis by the proportional gain Kqp of the q-axis to calculate the proportional term Vqp2 for control of the q-axis. It multiplies the control current deviation ΔIq2 of the q-axis by the integral gain Kqi of the q-axis and the value obtained after the second operation cycle T2, and adds it to the integral term Vqi2(n-1) for control of the q-axis calculated in the previous operation cycle (n-1) to calculate the integral term Vqi2(n) for control of the q-axis in the current operation cycle (n). It adds the proportional term Vqp2 for control of the q-axis and the integral term Vqi2(n) for control of the q-axis in the current calculation cycle to calculate the control voltage command value Vqref2 for the q-axis.

[0083] ΔIq2=Iqref-Iqact

[0084] Vqp2=Kqp×ΔIq2

[0085] Vqi2(n)=Kqi×T2×ΔIq2+Vqi2(n-1)

[0086] Vqref2=Vqp2+Vqi2(n)…(2)

[0087] The voltage command value calculation unit 121 for control sends the calculated voltage command value for control to the first calculation processing device 11 (abnormality determination unit 113) in each second calculation cycle T2 (or the first calculation cycle T1). In addition, as will be described later, the voltage command value for control sent may include the integral terms Vdi2(n-1) and Vqi2(n-1) for control of the d-axis and q-axis calculated in the previous calculation cycle.

[0088] 1-3-4. Switch control unit 122

[0089] The switching control unit 122 turns on and off multiple switching elements of the inverter 4 based on the voltage command value for control.

[0090] In each second operation cycle T2, the switch control unit 122 converts the voltage command values ​​Vdref2 for d-axis control and Vqref2 for q-axis control into three-phase voltage command values ​​Vuref, Vvref, and Vwref based on the rotation angle θ. Specifically, the switch control unit 122 performs fixed coordinate transformation and two-phase to three-phase transformation on the voltage command values ​​Vdref2 and Vqref2 for d-axis and q-axis control based on the rotation angle θ, converting them into three-phase voltage command values ​​Vuref, Vvref, and Vwref.

[0091] In order to improve voltage utilization, the switch control unit 122 can apply known modulations such as two-phase modulation and third harmonic superposition to the three-phase voltage command values ​​Vuref, Vvref, and Vwref.

[0092] The switching control unit 122 turns on and off multiple switching elements of the inverter 4 based on the three-phase voltage command values ​​Vuref, Vvref, and Vwref. The switching control unit 122 uses known carrier comparison PWM or space vector PWM.

[0093] When using carrier comparison PWM, the switch control unit 122 compares the carrier wave with each of the three-phase voltage command values ​​Vuref, Vvref, and Vwref, and turns multiple switching elements on and off based on the comparison results. The carrier wave is formed as a triangular wave oscillating with the amplitude of the DC voltage Vdc during the second operation period T2.

[0094] When using space vector PWM, the switch control unit 122 generates a voltage command vector based on the three-phase voltage command values ​​Vuref, Vvref, and Vwref, determines the output time allocation of the seven basic voltage vectors in the second operation cycle T2 based on the voltage command vector, and generates switching signals that turn each switching element on and off in the second operation cycle T2 based on the output time allocation of the seven basic voltage vectors.

[0095] 1-3-5. Voltage command value calculation unit 112 for judgment

[0096] The voltage command value calculation unit 112 for determination calculates the voltage command value for determination on the rotating coordinate system of the d-axis and q-axis based on the current command value calculated by the control parameter calculation unit 111.

[0097] In this embodiment, the voltage command value calculation unit 112 for determination calculates the voltage command value for determination in each first calculation cycle T1 based on the current detection value obtained from the second calculation processing unit 12 (voltage command value calculation unit 121 for control) via communication and the current command value output from the control parameter calculation unit 111. According to this structure, the first calculation processing unit 11 does not need to calculate the current detection value, thus reducing the calculation processing load. The voltage command value calculation unit 112 for determination can, similarly to the voltage command value calculation unit 121 for control, calculate the current detection values ​​of the d-axis and q-axis based on the detection values ​​Iuact, Ivact, Iwact of the current flowing through the three-phase armature winding obtained from the input circuit 13 and the rotation angle θ.

[0098] Furthermore, the voltage command value calculation unit 112 for determination uses the control gain output from the control parameter calculation unit 111 to calculate the voltage command value for determination. During non-interference control between the d-axis and q-axis in the voltage command value calculation unit 121 for control, the voltage command value calculation unit 112 for determination calculates a non-interference control value based on the control gain for non-interference control output from the control parameter calculation unit 111 and the current detection value, and corrects the voltage command value for determination using the non-interference control value. Additionally, since the current detection value is transmitted in each second calculation cycle T2, which is shorter than the first calculation cycle T1, the most recently transmitted current detection value is used.

[0099] The voltage command value calculation unit 112 for determination calculates the voltage command value for determination based at least on the integral value obtained by integrating the deviation between the current detection value and the current command value. In this embodiment, the current along the d-axis and the current along the q-axis are configured to be controlled by PI control respectively.

[0100] Specifically, the voltage command value calculation unit 112 for control calculates the current deviation ΔId1 for d-axis determination between the current command value Idref and the current detection value Idact of the d-axis as shown in the following formula. It multiplies the current deviation ΔId1 for d-axis determination by the proportional gain Kdp of the d-axis to calculate the proportional term Vdp1 for d-axis determination. It multiplies the current deviation ΔId1 for d-axis determination by the integral gain Kdi of the d-axis and the value obtained after the first operation cycle T1, and adds it to the integral term Vdi1(j-1) for d-axis determination calculated in the previous operation cycle (j-1) to calculate the integral term Vdi1(j) for d-axis determination in the current operation cycle (j). It adds the proportional term Vdp1 for d-axis determination and the integral term Vdi1(j) for d-axis determination in the current calculation cycle to calculate the voltage command value Vdref1 for d-axis determination.

[0101] ΔId1=Idref-Idact

[0102] Vdp1=Kdp×ΔId1

[0103] Vdi1(j)=Kdi×T1×ΔId1+Vdi1(j-1) Vdref1=Vdp1+Vdi1(j)…(3)

[0104] Furthermore, as shown in the following formula, the voltage command value calculation unit 112 for determination calculates the current deviation ΔIq1 for determination of the q-axis between the current command value Iqref of the q-axis and the current detection value Idact of the q-axis. It multiplies the current deviation ΔIq1 for determination of the q-axis by the proportional gain Kqp of the q-axis to calculate the proportional term Vqp1 for determination of the q-axis. It adds the value obtained by multiplying the current deviation ΔIq1 for determination of the q-axis by the integral gain Kqi of the q-axis and the first operation cycle T1 to the integral term Vqi1(j-1) for determination of the q-axis calculated in the previous operation cycle (j-1) to calculate the integral term Vqi1(j) for determination of the q-axis in the current operation cycle (j). It adds the proportional term Vqp1 for determination of the q-axis and the integral term Vqi1(j) for determination of the q-axis in the current calculation cycle to calculate the voltage command value Vqref1 for determination of the q-axis.

[0105] ΔIq1=Iqref-Iqact

[0106] Vqp1=Kqp×ΔIq1

[0107] Vqi1(j)=Kqi×T1×ΔIq1+Vqi1(j-1) Vqref1=Vqp1+Vqi1(j)…(4)

[0108] As shown in equations (1) and (2), in the integral calculation performed by the voltage command value calculation unit 121 for control in each second calculation cycle T2, the current deviations ΔId2 and ΔIq2 are multiplied by the integral gains Kdi and Kqi, and the second calculation cycle T2. As shown in equations (3) and (4), in the integral calculation performed by the voltage command value calculation unit 112 for determination in each first calculation cycle T1, the current deviations ΔId1 and ΔIq1 are multiplied by the integral gains Kdi and Kqi, and the first calculation cycle T1. Thus, the same integral gains Kdi and Kqi can be used to perform integral calculations with equal responsiveness between the voltage command value calculation unit 121 for control and the voltage command value calculation unit 112 for determination, even though their calculation cycles are different. Therefore, the same control gain can be used between the voltage command value calculation unit 121 for control and the voltage command value calculation unit 112 for determination, thereby simplifying the design of the control system and reducing the computational processing load.

[0109] Alternatively, when the current changes significantly, the difference between the first operation cycle T1 and the second operation cycle T2 may lead to larger differences between the integral terms Vdi1 for d-axis determination and Vdi2 for d-axis control, and between the integral terms Vqi1 for q-axis determination and Vqi2 for q-axis control. This could result in an error being incorrectly identified as an anomaly. Therefore, the control voltage command value calculation unit 121 can be configured to send the control integral terms Vdi2(n-1) and Vqi2(n-1) for the d-axis and q-axis calculated in the previous operation cycle to the first operation processing device 11. Then, the determination voltage command value calculation unit 112 can calculate the determination voltage command value based at least on the control integral value obtained from the control voltage command value calculation unit 121 via communication. For example, as shown in the following formula, the voltage command value calculation unit 112 for determination can use the control integral terms Vdi2(n-1) and Vqi2(n-1) of the d-axis and q-axis of the previous calculation cycle sent from the voltage command value calculation unit 121 for control to replace the determination integral terms Vdi1(j-1) and Vqi1(j-1) of the d-axis and q-axis of the previous calculation cycle in formulas (3) and (4), and use the second calculation cycle T2 to replace the first calculation cycle T1 of formulas (3) and (4) to calculate the determination integral terms Vqi1(j) and Vqi1(j) of the d-axis and q-axis.

[0110] Vdi1(j)=Kdi×T2×ΔId1+Vdi2(n-1)

[0111] Vqi1(j)=Kqi×T2×ΔIq1+Vqi2(n-1)

[0112] …(5)

[0113] In addition, when the second operation period T2 is sufficiently smaller than the first operation period T1, the term of the second operation period T2 in equation (5) can be omitted, as shown in the following equation. The voltage command value calculation unit 112 for determination can calculate the integral terms Vqi1(j) and Vqi1(j) for determination of the d-axis and q-axis.

[0114] T2< <T1

[0115] Vdi1(j)=Vdi2(n-1)

[0116] Vqi1(j)=Vqi2(n-1)…(6)

[0117] 1-3-6. Anomaly Detection Department 113

[0118] The anomaly determination unit 113 compares the control voltage command value obtained from the second arithmetic processing device 12 via communication with the determination voltage command value, thereby determining whether an anomaly has occurred in the control voltage command value calculation unit 121.

[0119] When the second processing unit 12 can normally receive current command values, etc., from the first processing unit 11, and the processing circuit of the second processing unit 12 (voltage command value calculation unit 121 for control) operates normally, the voltage command value for determination should be consistent with the voltage command value for control. On the other hand, if the voltage command value for determination deviates from the voltage command value for control, the second processing unit 12 (voltage command value calculation unit 121 for control) may malfunction. According to the above structure, by comparing the voltage command value for control and the voltage command value for determination, it is possible to determine whether the voltage command value calculation unit 121 for control has malfunctioned.

[0120] Since the first arithmetic processing unit 11, which includes a control parameter calculation unit 111 for calculating current command values ​​in the rotating coordinate system of the d-axis and q-axis, also includes a voltage command value calculation unit 112 and an anomaly determination unit 113, anomalies in the control voltage command value calculation unit 121, which calculates control voltage command values ​​in the rotating coordinate system of the d-axis and q-axis, can be determined by other first arithmetic processing units 11, without requiring additional arithmetic processing units for anomaly detection. Furthermore, since anomalies are determined using voltage command values ​​in the rotating coordinate system of the d-axis and q-axis, which are DC components, it is not necessary to determine anomalies within an arithmetic cycle shorter than the AC cycle. Anomalies in the control voltage command value calculation unit 121 can be determined without increasing the speed of the first arithmetic processing unit 11's first arithmetic cycle T1.

[0121] When an anomaly is detected, the anomaly detection unit 113 sends the anomaly information to the control parameter calculation unit 111, the external control device 16, the second calculation processing unit 12, etc., and instructs each unit to perform control in response to the anomaly. For example, the control parameter calculation unit 111 sets the current command value to 0. The second calculation processing unit 12 (switch control unit 122) performs full-circuit shutdown control to turn off all switching elements, or performs three-phase winding short-circuit control, which turns off one of the switching elements on the positive side and turns on the other of the switching elements on the negative side.

[0122] In this embodiment, if the absolute value of the deviation between the control voltage command value and the determination voltage command value, i.e., the deviation ΔVref of the voltage command value, exceeds the determination value Vth for a determination time Terr or more, the abnormality determination unit 113 determines that an abnormality has occurred in the control voltage command value calculation unit 121.

[0123] In this embodiment, the anomaly determination unit 113 sets the determination value Vth and the determination time Terr to fixed values.

[0124] Anomaly determination is performed on the control voltage command values ​​for the d-axis and q-axis respectively. Specifically, as shown in the following formula, if the absolute value of the deviation ΔVdref between the control voltage command value Vdref2 and the determination voltage command value Vdref1 of the d-axis (i.e., the deviation of the d-axis voltage command value) exceeds the determination value Vdth of the d-axis for a determination time Terr or more, the anomaly determination unit 113 determines that the control voltage command value calculation unit 121 has malfunctioned. Similarly, if the absolute value of the deviation ΔVqref between the control voltage command value Vqref2 and the determination voltage command value Vqref1 of the q-axis (i.e., the deviation of the q-axis voltage command value) exceeds the determination value Vqth of the q-axis for a determination time Terr or more, the anomaly determination unit 113 determines that the control voltage command value calculation unit 121 has malfunctioned. Therefore, if an anomaly is determined to have occurred in either the d-axis or q-axis control voltage command value, the control voltage command value calculation unit 121 is deemed to have malfunctioned; conversely, if neither the d-axis nor q-axis control voltage command value is deemed to have malfunctioned, the control voltage command value calculation unit 121 is deemed not to have malfunctioned. Anomaly determination can be performed on either the d-axis or q-axis control voltage command value. Furthermore, the determination time Terr can be set separately for each of the d-axis and q-axis.

[0125] |ΔVdref|=|Vdref2-Vdref1|

[0126] |ΔVqref|=|Vqref2-Vqref1|…(7)

[0127] For each of the voltage command values ​​on the d-axis and q-axis, the anomaly determination unit 113 determines in each first operation cycle T1 whether the absolute value of the deviation ΔVref of the voltage command value exceeds the determination value Vth. If it exceeds the determination value Vth, the count value Cout corresponding to the duration is incremented. If the absolute value of the deviation ΔVref of the voltage command value does not exceed the determination value Vth, the count value Cout is reset or incremented. If the count value Cout exceeds the count determination value Cth corresponding to the determination time Terr, an anomaly is determined to have occurred in the voltage command value calculation unit 121 for control.

[0128] Depending on the operating environment or surrounding environment of the rotating electric motor 1, transient noise may be generated. If this noise accumulates, it may be incorrectly identified as an anomaly. According to the above structure, since the count value Cout is reset or counted downwards, it is possible to suppress the situation where the count value Cout counts upwards due to noise, thus preventing incorrect anomaly identification. On the other hand, sometimes even if an anomaly occurs, the absolute value of the voltage command value deviation ΔVdref may not exceed the judgment value Vth due to noise, and the count value Cout may be unintentionally reset. In this case, counting downwards prevents the count value Cout from being reset due to noise components, thereby improving the accuracy of anomaly detection.

[0129] <Flowchart>

[0130] Reference Figure 5 The flowchart shown illustrates the processing of the exception determination unit 113. It is executed in each first operation cycle T1. Figure 5 The process is described in the flowchart. In step S01, the anomaly determination unit 113 obtains the control voltage command values ​​Vdref2 and Vqref2 for the d-axis and q-axis from the second arithmetic processing unit 12 (control voltage command value calculation unit 121). It also obtains the control voltage command values ​​calculated in the latest first calculation cycle T1.

[0131] In step S02, the anomaly determination unit 113 obtains the voltage command values ​​Vdref1 and Vqref1 for the d-axis and q-axis from the voltage command value calculation unit 112 for determination. It then obtains the voltage command value for determination immediately following the previously calculated value.

[0132] In step S03, as shown in equation (7), the anomaly determination unit 113 calculates the absolute value of the deviation between the voltage command value Vdref2 for control of the d-axis and the voltage command value Vdref1 for determination of the d-axis, i.e., the deviation ΔVdref of the voltage command value of the d-axis, and the absolute value of the deviation between the voltage command value Vqref2 for control of the q-axis and the voltage command value Vqref1 for determination of the q-axis, i.e., the deviation ΔVqref of the voltage command value of the q-axis.

[0133] In step S04, the exception determination unit 113 sets the determination value Vth (in this example, the determination value Vdth for the d-axis and the determination value Vqth for the q-axis) and the determination time Terr (in this example, the counter determination value Cth). In this embodiment, the determination value Vth and the determination time Terr are set to fixed values.

[0134] In step S05, the anomaly determination unit 113 determines whether the absolute value of the deviation ΔVdref of the voltage command value of the d-axis exceeds the determination value Vdth of the d-axis. If it does not exceed the value, it proceeds to step S06; if it does exceed the value, it proceeds to step S07.

[0135] In step S06, the anomaly determination unit 113 resets the d-axis count value Coutd to 0. Alternatively, the anomaly determination unit 113 can count down the d-axis count value Coutd (Coutd = Coutd - 1).

[0136] On the other hand, in step S07, the anomaly determination unit 113 counts the d-axis count value Coutd upwards (Coutd = Coutd + 1). Then, in step S08, the anomaly determination unit 113 determines whether the d-axis count value Coutd exceeds the count determination value Cth. If it exceeds, it proceeds to step S13; if it does not exceed, it proceeds to step S09.

[0137] In step S09, the anomaly determination unit 113 determines whether the absolute value of the deviation ΔVdref of the voltage command value of the q-axis exceeds the determination value Vqth of the q-axis. If it does not exceed the value, it proceeds to step S10; if it does exceed the value, it proceeds to step S11.

[0138] In step S10, the anomaly determination unit 113 resets the q-axis count value Coutq to 0. Alternatively, the anomaly determination unit 113 can count down the q-axis count value Coutq (Coutq = Coutq - 1).

[0139] On the other hand, in step S11, the anomaly determination unit 113 counts the q-axis count value Coutq upwards (Coutq = Coutq + 1). Then, in step S12, the anomaly determination unit 113 determines whether the q-axis count value Coutq exceeds the count determination value Cth. If it exceeds, the process proceeds to step S13; otherwise, the process ends.

[0140] In step S13, the anomaly determination unit 113 determines that an anomaly has occurred. Then, the anomaly determination unit 113 sends the occurrence of the anomaly to the control parameter calculation unit 111, the external control device 16, the second calculation processing device 12, etc., and causes each unit to perform control when the anomaly occurs.

[0141] <Control Actions>

[0142] use Figure 6 The timing diagram is used to illustrate an example of control action. Figure 6The voltage command value for the d-axis is represented in the diagram. Before time t1, the torque command value To is 0, and the voltage command values ​​Vdref1 and Vdref2 for d-axis determination and control are set to 0. At time t1, the torque command value increases to the specified value, and the current command value increases to the specified value. From time t1 to time t2, through current feedback control, the voltage command values ​​Vdref1 and Vdref2 for d-axis determination and control gradually increase to the specified values. From time t1 to time t2, during the transition of increasing current, a deviation ΔVdref in the d-axis voltage command value occurs due to the deviation between the first and second operation cycles T1 and T2, and the delay caused by communication. However, the absolute value of the deviation ΔVdref is lower than the d-axis determination value Vdth, and it is normally determined that no abnormality has occurred.

[0143] At time t3, an anomaly occurs in the control voltage command value calculation unit 121, and the control voltage command value Vdref2 for the d-axis increases abruptly to a predetermined value. Therefore, at time t3, the absolute value of the deviation ΔVdref of the d-axis voltage command value increases abruptly, exceeding the d-axis judgment value Vdth. Then, at time t4, the state exceeding the d-axis judgment value Vdth persists for a judgment time Terr or more; therefore, the anomaly determination unit 113 determines that an anomaly has occurred and performs anomaly handling.

[0144] <First operation cycle T1 and second operation cycle T2>

[0145] As described above, the first operation cycle T1 is longer than the second operation cycle T2. The second operation processing device 12 needs to perform operations with a PWM cycle shorter than the AC cycle, and therefore needs to operate at high speed. On the other hand, since the first operation processing device 11 performs operations on the current command values ​​in the rotating coordinate system of the d-axis and q-axis, which are DC components, it does not need to perform operations with a cycle shorter than the AC cycle, and the operation cycle can be set to be longer.

[0146] In this embodiment, since the voltage command values ​​on the rotating coordinate system of the d-axis and q-axis, which are DC components, are used to determine the anomaly, it is not necessary to determine the anomaly in the second operation cycle T2, which is shorter than the AC cycle. Instead, the first operation processing unit 11, which performs operations in the first operation cycle T1, which is longer than the second operation cycle T2, can be used to determine the anomaly of the second operation processing unit 12, which operates at a high speed, using the first operation processing unit 11, which operates at a low speed. In addition, it is not necessary to increase the operation cycle of the first operation processing unit 11, and the high cost of the first operation processing unit 11 can be suppressed.

[0147] In this embodiment, although the anomaly detection unit of the first arithmetic processing unit 11 is not described, various known techniques can be used, such as the dual-core locking mechanism of a microcomputer. Furthermore, as the anomaly detection unit of the input circuit 13, various known techniques can be used, such as the method of summing the currents using a current sensor. Additionally, as the anomaly detection unit of the switch control unit 122, various known techniques can be used, such as the breakdown current prevention function of the preamplifier driver.

[0148] 2. Implementation Method 2

[0149] The control device 10 according to Embodiment 2 will be described. Descriptions of structural parts identical to those in Embodiment 1 are omitted. The basic structures of the rotary motor 1, power converter 4, and control device 10 in this embodiment are the same as in Embodiment 1, but the method for setting the determination value Vth differs from that in Embodiment 1.

[0150] In this embodiment, the anomaly determination unit 113 uses one or more of the multiple setting methods described below to set the determination value Vth to be variable.

[0151] The anomaly determination unit 113 sets the determination value Vth based on the absolute value of the current command value. According to this structure, an appropriate determination value Vth can be set based on the absolute value of the current command value, thereby improving determination accuracy. Alternatively, the anomaly determination unit 113 may set the determination value Vth based on the absolute value of the voltage command value used for determination, instead of the absolute value of the current command value.

[0152] For example, the anomaly determination unit 113 refers to determination value setting mapping data that pre-sets the relationship between the absolute value of the current command value Iref and the determination value Vth, and calculates the determination value Vth corresponding to the absolute value of the current command value Iref. Alternatively, a pre-set mathematical formula can be used to calculate the determination value Vth based on the absolute value of the current command value.

[0153] <Monotonically Decrease Setting>

[0154] like Figure 7 As shown, the anomaly determination unit 113 gradually decreases the determination value Vth as the absolute value of the current command value Iref increases.

[0155] When the absolute value of the current command is large, the current flowing through the armature winding increases, and the output torque also increases. Under these conditions, if an anomaly occurs in the voltage command value calculation unit 121 for control, a large abnormal torque is generated. According to the above structure, as the absolute value of the current command increases, the determination value Vth gradually decreases, thus making it easier to detect anomalies and suppressing the generation of large abnormal torque.

[0156] like Figure 8As shown, the anomaly determination unit 113 can gradually decrease the determination value Vth as the absolute value of the current command value Iref increases within a first range of absolute values ​​of the current command value, and set the determination value Vth to a fixed value within a second range of absolute values ​​of the current command value that is different from the first range. The second range is set to be higher than the first range. The second range is set to be lower than the first range.

[0157] Within a large range of absolute values ​​of the current command value, the judgment value Vth may be set too small due to its monotonically decreasing nature. This could lead to incorrect judgments of an anomaly due to noise components contained in the absolute value of the voltage command value deviation ΔVref. By setting the judgment value Vth to a fixed value in the second range, the possibility of Vth being set too small due to monotonically decreasing can be prevented, and misjudgments due to noise components can be suppressed.

[0158] <Monotonically Increase Setting>

[0159] Or, such as Figure 9 As shown, the anomaly determination unit 113 gradually increases the determination value Vth as the absolute value of the current command value Iref increases.

[0160] When a gain error exists in the current sensor 6, the larger the current, the larger the current detection error. Even if no abnormality occurs, the absolute value of the voltage command deviation ΔVref tends to increase, making it easier to be judged as abnormal. According to the above structure, as the absolute value of the current command increases, the judgment value Vth gradually increases. Therefore, even if no abnormality occurs due to the gain error in the current sensor 6, it is possible to suppress the erroneous judgment of abnormality.

[0161] like Figure 10 As shown, the anomaly determination unit 113 can gradually increase the determination value Vth as the absolute value of the current command value increases within a first range of absolute values ​​of the current command value, and set the determination value Vth to a fixed value within a second range of absolute values ​​of the current command value that is different from the first range. The second range is set to be lower than the first range. The second range is set to be higher than the first range.

[0162] Within a small range of absolute values ​​of the current command value, the judgment value Vth may be set too small due to monotonically increasing. This could lead to incorrect judgments of an anomaly due to noise components contained in the absolute value of the voltage command value deviation ΔVref. By setting the judgment value Vth to a fixed value in the second range, the possibility of setting it too small due to monotonically increasing values ​​can be prevented, and misjudgments due to noise components can be suppressed.

[0163] <Setting the decision values ​​for the d-axis and q-axis>

[0164] In this embodiment, the d-axis determination value Vdth and the q-axis determination value Vqth are set based on the absolute value of the current command value. Specifically, the anomaly determination unit 113 sets the d-axis determination value Vdth based on the absolute value of the d-axis current command value Idref, and sets the q-axis determination value Vqth based on the absolute value of the q-axis current command value Iqref. Any of the methods described above can be used for setting this value, therefore, the explanation is omitted. This operation is described in Embodiment 1. Figure 5 The process is carried out in step S04 of the flowchart. Alternatively, the anomaly determination unit 113 may set the d-axis determination value Vdth based on the absolute value of the d-axis current command value Idref instead of the absolute value of the d-axis voltage command value Vdref1, or it may set the q-axis determination value Vqth based on the absolute value of the q-axis current command value Iqref instead of the absolute value of the q-axis voltage command value Vqref1.

[0165] <Changes in the judgment value corresponding to the positive or negative current command value>

[0166] The anomaly determination unit 113 can set the determination value Vth differently depending on whether the current command value is positive or negative. Alternatively, when using a voltage command value for determination instead of a current command value, the anomaly determination unit 113 can set the determination value Vth differently depending on whether the voltage command value for determination is positive or negative.

[0167] For example, magnetic saturation is prone to occur in the region where the d-axis current is positive, resulting in decreased inductance and larger current and torque changes when abnormal voltages are applied. On the other hand, magnetic saturation is less likely to occur in the region where the d-axis current is negative, and the current and torque changes when abnormal voltages are applied are smaller compared to the positive region. In this case, by setting the d-axis threshold Vdth in the positive region to be lower than that in the negative region, the margin for abnormal torque can be optimized.

[0168] Even when rotating in the same direction, the q-axis judgment value Vqth is set based on the torque command value or the q-axis current command value Iqref when the q-axis current is in the positive region as the power operation side, and the q-axis judgment value Vqth is set based on the generator current when the q-axis current is in the negative region as the regeneration side. This makes the setting of the q-axis judgment value Vqth different, thereby improving the accuracy of anomaly detection.

[0169] <Changes in the judgment value corresponding to the rotational speed>

[0170] The voltage equation at steady state is expressed by the following equation.

[0171] Vd=Ra×Id-ω×Lq×Iq

[0172] Vq=Ra×Iq+ω×(Ld×Id+ψ)· · · (8)

[0173] Where Vd is the d-axis voltage, Ra is the armature winding resistance, Id is the d-axis current, ω is the rotor's angular velocity at the electrical angle, Lq is the q-axis inductance, Iq is the q-axis current, Vq is the q-axis voltage, Ld is the d-axis inductance, and ψ is the linkage flux of the rotor magnet.

[0174] When the rotational angular velocity ω is large, the voltage equation is as follows.

[0175] Vd≒-ω×Lq×Iq→Iq≒-Vd / (ω×Lq)

[0176] Vq≒ω(Ld×Id+ψ)→Id≒(Vq / ω-ψ) / Ld

[0177] …(9)

[0178] Therefore, when the voltage command values ​​Vdref2 and Vqref2 used for d-axis or q-axis control have the same abnormal deviation, the current change is small in the region with a large rotational angular velocity ω, while the current change is large in the region with a small rotational angular velocity ω, resulting in a large abnormal torque.

[0179] Therefore, the anomaly determination unit 113 sets the determination value Vth based on the rotational speed of the rotary motor 1. According to this structure, the output torque variation during anomaly determination can be optimized to accommodate changes in the rotational angular velocity ω.

[0180] For example, the anomaly detection unit 113 decreases the detection value Vth as the rotational angular velocity ω decreases. If this is set, a smaller detection value Vth is used in the region where the rotational angular velocity ω is small, thus suppressing excessive fluctuations in the output torque during anomaly detection.

[0181] For example, the anomaly determination unit 113 calculates the determination value Vth corresponding to the current rotational angular velocity ω and the current absolute value of the current command value Iref by referring to the determination value setting mapping data that pre-sets the relationship between the rotational angular velocity ω, the absolute value of the current command value Iref, and the determination value Vth. Alternatively, the determination value Vth can be set using a pre-set mathematical formula.

[0182] Alternatively, the anomaly determination unit 113 can set mapping data based on the relationship between the absolute value of the preset current command value Iref and the determination value Vth for each of the multiple rotational angular velocities, and calculate the determination value Vth corresponding to the absolute value of the current current command value Iref by referring to the determination value setting mapping data for the rotational angular velocity region corresponding to the current rotational angular velocity ω. Alternatively, the determination value Vth can be set using a mathematical formula preset for each of the multiple rotational angular velocities.

[0183] Alternatively, the anomaly determination unit 113 changes the determination value Vth based on the rotation speed of the rotary motor 1, but does not change the determination value Vth based on the absolute value of the current command value Iref.

[0184] 3. Implementation Method 3

[0185] The control device 10 involved in Embodiment 3 will be described. Descriptions of structural parts that are the same as those in Embodiments 1 or 2 are omitted. The basic structure of the rotary motor 1, power converter 4, and control device 10 in this embodiment is the same as that in Embodiments 1 or 2, but the method for setting the determination time Terr is different from that in Embodiments 1 or 2.

[0186] In this embodiment, the anomaly determination unit 113 uses one or more of the multiple setting methods described below to set the determination time Terr to be variable.

[0187] <Settings corresponding to the deviation from the voltage command value>

[0188] The anomaly determination unit 113 reduces the determination time Terr (in this example, the counter determination value Cth) based on the increase in the absolute value of the deviation ΔVref of the voltage command value.

[0189] As the absolute value of the voltage command deviation ΔVref increases, the fluctuation in output torque also increases. Based on the above structure, when the fluctuation in output torque is large, anomalies can be detected earlier, and handling of the anomalies can be performed.

[0190] In this embodiment, the determination time Terr is set separately for the d-axis and q-axis. That is, if the absolute value of the deviation ΔVdref of the voltage command value on the d-axis exceeds the determination value Vdth of the d-axis for a period of Terrrd or more, the anomaly determination unit 113 determines that the voltage command value calculation unit 121 for control has malfunctioned. Similarly, if the absolute value of the deviation ΔVqref of the voltage command value on the q-axis exceeds the determination value Vqth of the q-axis for a period of Terrq or more, the anomaly determination unit 113 determines that the voltage command value calculation unit 121 for control has malfunctioned.

[0191] Then, as Figure 11 As shown, the anomaly detection unit 113 decreases the d-axis determination time Terrd (in this example, the d-axis counter determination value Cthd) by increasing the absolute value of the deviation ΔVdref of the d-axis voltage command value. Figure 12 As shown, the anomaly determination unit 113 decreases the q-axis determination time Terrq (in this example, the q-axis counter determination value Cthq) by increasing the absolute value of the deviation ΔVqref of the q-axis voltage command value. This operation is described in Embodiment 1. Figure 5 The process is carried out in step S04 of the flowchart.

[0192] For example, the anomaly determination unit 113 uses a pre-set mathematical formula as shown below to set the determination times Terrd and Terrq for the d-axis and q-axis.

[0193] Terrd=Ad×(|ΔVdref|-Vdth)+Tdoff

[0194] Terrq=Aq×(|ΔVqref|-Vqth)+Tqoff

[0195] …(10)

[0196] Where Ad and Aq are pre-defined slopes, and Tdoff and Tqoff are the decision times corresponding to the decision values ​​Vdth and Vqth. Alternatively, higher-order mathematical expressions can also be used.

[0197] Alternatively, the anomaly determination unit 113 can refer to d-axis determination time mapping data, which pre-sets the relationship between the absolute value of the deviation ΔVdref of the d-axis voltage command value and the d-axis determination time Terrd, to calculate the d-axis determination time Terrd corresponding to the absolute value of the deviation ΔVdref of the current d-axis voltage command value. The anomaly determination unit 113 can also refer to q-axis determination time mapping data, which pre-sets the relationship between the absolute value of the deviation ΔVqref of the q-axis voltage command value and the q-axis determination time Terrq, to ​​calculate the q-axis determination time Terrq corresponding to the absolute value of the deviation ΔVqref of the current q-axis voltage command value.

[0198] use Figure 13 and Figure 14 The timing diagram is used to illustrate an example of control action. Figure 13 This is an example when the absolute value of the deviation ΔVdref of the d-axis voltage command value is small when the anomaly occurs. Figure 14 This is an example of a situation where the absolute value of the deviation ΔVdref of the d-axis voltage command value is large when an anomaly occurs.

[0199] for Figure 13The following explanation is provided. Before time t11, no abnormality occurred. The voltage command value Vdref1 used for d-axis determination was consistent with the voltage command value Vdref2 used for d-axis control. The absolute value of the deviation ΔVdref of the voltage command value of d-axis was lower than the determination value Vdth of d-axis, and the count value Coutd of d-axis was 0.

[0200] At time t11, an anomaly occurs in the voltage command value calculation unit 121 for control. The voltage command value Vdref2 for d-axis control increases abruptly, and the absolute value of the deviation ΔVdref of the voltage command value for d-axis increases abruptly, exceeding the decision value Vdth of d-axis. However, in this example, since the absolute value of the deviation ΔVdref of the voltage command value for d-axis is small, the decision time Terrd of d-axis (in this example, the decision value Cthd of the d-axis counter) is set to a large value.

[0201] After time t11, the count value Coutd of the d-axis increases. At time t12, the count value Coutd of the d-axis exceeds the counter judgment value Cthd of the d-axis, which is set to a larger value, thus determining that an anomaly has occurred.

[0202] for Figure 14 Explanation: Before time t21, no abnormality occurred. The voltage command value Vdref1 used for d-axis determination was consistent with the voltage command value Vdref2 used for d-axis control. The absolute value of the deviation ΔVdref of the voltage command value of the d-axis was lower than the determination value Vdth of the d-axis, and the count value Coutd of the d-axis was 0.

[0203] At time t21, an anomaly occurs in the control voltage command value calculation unit 121. The control voltage command value Vdref2 for the d-axis increases abruptly, and the absolute value of the deviation ΔVdref of the d-axis voltage command value increases abruptly, exceeding the d-axis judgment value Vdth. In this example, the absolute value of the deviation ΔVdref of the d-axis voltage command value is greater than... Figure 13 Therefore, the decision time Terrd for the d-axis (in this example, the decision value Cthd of the d-axis counter) is set to less than Figure 13 The value of .

[0204] After time t21, the count value Coutd on the d-axis counts upwards, compared to... Figure 13 At a time t22, earlier than t12, the d-axis counter value Coutd exceeds the d-axis counter judgment value Cthd, which is set to a smaller value, thus indicating an anomaly. This allows for earlier anomaly detection and handling when the absolute value of the d-axis voltage command value deviation ΔVdref is large and the output torque variation is significant.

[0205] <Setting the determination time corresponding to the absolute value of the voltage command>

[0206] The anomaly determination unit 113 can set the determination time Terr based on the absolute value of the control voltage command value or the absolute value of the determination voltage command value. For example, the anomaly determination unit 113 can decrease or increase the determination time Terr as the absolute value of the control voltage command value or the absolute value of the determination voltage command value increases.

[0207] In this embodiment, the anomaly determination unit 113 sets the d-axis determination time Terrd based on the absolute value of the voltage command value Vdref2 for d-axis control or the absolute value of the voltage command value Vdref1 for d-axis determination. Similarly, the anomaly determination unit 113 sets the q-axis determination time Terrq based on the absolute value of the voltage command value Vqref2 for q-axis control or the absolute value of the voltage command value Vqref1 for q-axis determination.

[0208] Alternatively, by combining the two setting methods, the anomaly determination unit 113 can reduce or increase the determination time Terr based on the absolute value of the control voltage command value or the absolute value of the determination voltage command value, and reduce the determination time as the absolute value of the deviation ΔVref between the control voltage command value and the determination voltage command value increases.

[0209] <Changes in determination time corresponding to rotational speed>

[0210] As described in Implementation Method 2, when the voltage command values ​​Vdref2 and Vqref2 used for the control of the d-axis or q-axis have the same abnormal deviation, the current change is relatively small in the region with a large rotational angular velocity ω, while the current change is relatively large in the region with a small rotational angular velocity ω, resulting in a large abnormal torque.

[0211] Therefore, the anomaly detection unit 113 can set the detection time Terr based on the rotational speed of the rotary motor. For example, the anomaly detection unit 113 reduces the detection time Terr as the rotational angular velocity ω decreases. With this setting, in the region where the rotational angular velocity ω is small, a smaller detection time Terr is used, thus enabling anomalies to be detected earlier and avoiding the generation of large abnormal torques over a long period of time. Conversely, in the region where the rotational angular velocity ω is large, since the impact of abnormal torques is smaller, a larger detection time Terr can be set.

[0212] For example, the anomaly determination unit 113 refers to the determination value setting mapping data that pre-sets the relationship between the absolute value of the deviation ΔVref of the rotational angular velocity ω and the current command value and the determination time Terr, and calculates the determination time Terr corresponding to the current rotational angular velocity ω and the deviation ΔVref of the current current command value.

[0213] 4. Transformation Example

[0214] The rotary motor 1 can be a synchronous rotary motor with an excitation winding on the rotor, or an induction rotary motor with a squirrel-cage conductor on the rotor. Even in this case, anomalies can be detected by calculating the control voltage command values ​​in the rotational coordinate system of the d-axis and q-axis.

[0215] Multi-phase (e.g., two-phase, four-phase) armature windings other than three-phase can be set on the stator.

[0216] Multiple sets (such as two sets) of three-phase armature windings can be set on the stator, and the power converter and control device are set in corresponding parts of each set of three-phase armature windings.

[0217] The first processing unit 11 can be a processing circuit other than a CPU and a storage device, such as an ASIC or an FPGA. Similarly, the second processing unit 12 can be a processing circuit other than an ASIC or FPGA, such as a CPU and a storage device. The first processing unit 11 and the second processing unit 12 can respectively be a first CPU and a storage device, and a second CPU and a storage device, located in a microcomputer with multiple CPU cores, and can be a system that sends and receives data through inter-core communication.

[0218] Without using the rotation sensor 4, the voltage command value calculation unit 121 or the control parameter calculation unit 111 for control can be configured to estimate the rotor rotation angle θ (magnetic pole position) based on current information obtained by superimposing harmonic components onto the current command value (a so-called sensorless system). Then, the estimated rotation angle θ information can be transmitted between the voltage command value calculation unit 121 and the control parameter calculation unit 111 via communication.

[0219] While this application describes various exemplary embodiments and examples, the various features, methods, and functions described in one or more embodiments are not limited to the application of a particular embodiment and can be applied to the embodiments individually or in various combinations. Therefore, it can be considered that numerous modifications not illustrated are also included within the scope of the technology disclosed in this application. For example, this includes cases where at least one constituent element is modified, added to, or omitted, and cases where at least one constituent element is extracted and combined with constituent elements of other embodiments.

[0220] Label Explanation

[0221] 1 Rotary motor, 4 Power converter, 10 Control device for rotary motor, 11 First arithmetic processing unit, 12 Second arithmetic processing unit, 111 Control parameter arithmetic unit, 112 Voltage command value arithmetic unit for determination, 113 Abnormal determination unit, 121 Voltage command value arithmetic unit for control, 122 Switch control unit, Cout counter value, Cth counter determination value, Idref d-axis current command value, Iqref q-axis current command value, T1 First arithmetic cycle, T2 Second arithmetic cycle, Terr determination time, Vdref1 d-axis voltage command value for determination, Vqref1 q-axis voltage command value for determination, Vdref2 d-axis control voltage command value, Vqref2 q-axis control voltage command value, Vth determination value, ΔVref voltage command value deviation.

Claims

1. A control device for a rotating electric motor, comprising controlling a rotating electric motor having multi-phase armature windings via a power converter, characterized in that it includes: First arithmetic processing unit; as well as A second processing unit that communicates with the first processing unit. The first processing unit includes a control parameter calculation unit, which calculates current command values ​​in the rotational coordinate system of the d-axis and q-axis, which rotate synchronously with the electrical angle of the rotor of the rotary motor. The second processing unit includes a voltage command value calculation unit for control, which calculates the voltage command value for control in the rotating coordinate system of the d-axis and q-axis based on the current command value obtained from the first processing unit via communication. The first processing device includes: a voltage command value calculation unit for determination, which calculates the voltage command value for determination on the rotating coordinate system of the d-axis and q-axis based on the current command value; And an anomaly determination unit, which compares the control voltage command value obtained from the second arithmetic processing device via communication with the determination voltage command value, thereby determining whether an anomaly has occurred in the control voltage command value calculation unit.

2. The control device for a rotating electric motor as described in claim 1, characterized in that, If the absolute value of the deviation between the control voltage command value and the determination voltage command value exceeds the determination value for a period of time or longer, the anomaly determination unit determines that the control voltage command value calculation unit has malfunctioned.

3. The control device for a rotating electric motor as described in claim 2, characterized in that, The anomaly determination unit sets the determination value based on the absolute value of the current command value or the absolute value of the voltage command value used for determination.

4. The control device for a rotating electric motor as described in claim 2 or 3, characterized in that, As the absolute value of the current command value or the absolute value of the voltage command value used for judgment increases, the anomaly determination unit causes the determination value to gradually decrease or gradually increase.

5. The control device for a rotating electric motor as described in claim 2, characterized in that, The anomaly determination unit sets the determination value to a fixed value.

6. The control device for a rotating electric motor as described in claim 2, characterized in that, The anomaly determination unit, within a first range of the absolute value of the current command value or the absolute value of the voltage command value used for determination, causes the determination value to gradually decrease or gradually increase as the absolute value of the current command value or the absolute value of the voltage command value used for determination increases. Within a second range of the absolute values ​​of the current command value or the absolute values ​​of the voltage command value used for determination, which are different from the first range, the determination value is set to a fixed value.

7. The control device for a rotating electric motor as described in any one of claims 2 to 6, characterized in that, The anomaly determination unit sets the determination value differently depending on whether the current command value or the voltage command value used for determination is positive or negative.

8. The control device for a rotating electric motor as described in any one of claims 2 to 7, characterized in that, The anomaly determination unit sets the determination value based on the rotational speed of the rotary motor.

9. The control device for a rotating electric machine as described in any one of claims 2 to 8, characterized in that, The anomaly determination unit reduces the determination time as the absolute value of the deviation between the control voltage command value and the determination voltage command value increases.

10. The control device for a rotating electric machine as described in any one of claims 2 to 8, characterized in that, The anomaly determination unit sets the determination time based on the absolute value of the control voltage command value or the absolute value of the determination voltage command value.

11. The control device for a rotating electric motor as described in any one of claims 2 to 8, characterized in that, The anomaly determination unit increases or decreases the determination time based on the absolute value of the control voltage command value or the absolute value of the determination voltage command value, and decreases the determination time as the absolute value of the deviation between the control voltage command value and the determination voltage command value increases.

12. The control device for a rotating electric machine as described in any one of claims 2 to 11, characterized in that, In each operation cycle, the anomaly detection unit determines whether the absolute value of the deviation exceeds a detection value. If it exceeds the detection value, the unit counts the value corresponding to the duration upwards. If the absolute value of the deviation does not exceed the detection value, the unit resets the count or counts downwards. If the count value exceeds the counter determination value corresponding to the determination time, it is determined that the voltage command value calculation unit for control has malfunctioned.

13. The control device for a rotating electric machine as described in any one of claims 2 to 12, characterized in that, The anomaly determination unit sets the determination time based on the rotational speed of the rotary motor.

14. The control device for a rotating electric machine as described in any one of claims 1 to 13, characterized in that, The processing cycle of the first processing device is longer than that of the second processing device.

15. The control device for a rotating electric machine as described in any one of claims 1 to 14, characterized in that, The voltage command value calculation unit for control calculates the current detection value in the rotating coordinate system of the d-axis and q-axis based on the detected current flowing through the multiphase armature winding and the rotation angle in the electrical angle of the rotor. Based on the current detection value and the current command value obtained from the first arithmetic processing device via communication, the unit calculates the voltage command value for control. The voltage command value calculation unit for determination calculates the voltage command value for determination based on the current detection value and the current command value obtained from the second arithmetic processing device via communication.

16. The control device for a rotating electric machine as described in claim 15, characterized in that, The voltage command value calculation unit for control calculates the voltage command value for control based at least on an integral value obtained by integrating the deviation between the current detection value and the current command value. The voltage command value calculation unit for determination calculates the voltage command value for determination based at least on the integral value for determination obtained by integrating the deviation between the current detection value and the current command value, or the integral value for control obtained from the voltage command value calculation unit for control via communication.

17. The control device for a rotating electric machine as described in any one of claims 1 to 16, characterized in that, The control parameter calculation unit calculates the control gain. The voltage command value calculation unit for control uses the control gain obtained from the first arithmetic processing device via communication to calculate the voltage command value for control. The voltage command value calculation unit for determination uses the control gain to calculate the voltage command value for determination.

18. The control device for a rotating electric machine as described in any one of claims 1 to 17, characterized in that, The second processing unit includes a switch control unit that turns on and off multiple switching elements of the power converter based on the control voltage command value.

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