CONTROL DEVICE FOR A ROTATING ELECTRIC MACHINE

Abstract

Control device for a rotating electric machine for controlling a drive of a rotating electric machine (10) with several winding groups (11, 12) which are magnetically coupled to each other, wherein the control device for the rotating electric machine comprises: an inverter (21, 22) arranged in each of the winding groups and comprising a high-potential switching element (211 to 213, 221 to 223) corresponding to each phase of a respective winding group, and a low-potential switching element (214 to 216, 224 to 226) connected to a low-potential side of the high-potential switching element; and a controller (41 to 45) that controls the inverter in each of the winding groups, wherein: Each of the winding groups and the inverter corresponding to a respective winding group constitute a system; the control system features: a signal generator (48) which generates a control signal for controlling the switching on and off operation of each of the high-potential-side switching elements and low-potential-side switching elements; a disturbance voltage estimator (62, 71, 72) which calculates a disturbance voltage estimate obtained by estimating a disturbance voltage that arises in a normal system in which no short-circuit disturbance occurs, by a current flowing in a disturbed system when a short-circuit disturbance occurs in the disturbed system; and an instruction calculation device (51, 53, 55, 56, 57) which calculates a normal system instruction value according to the disturbance voltage estimate, which relates to the control of the current supply to the normal system; a top-side bus (218, 228) that connects the high-potential sides of the high-potential switching elements in each of the winding groups; a bottom-side bus (219, 229) that connects the low-potential sides of the low-potential switching elements in each of the winding groups; and The short-circuit fault is defined as a fault in which the upper bus or the lower bus is electrically connected to a phase of a respective winding group.

Description

[0001] The present disclosure relates to a control device for a rotating electrical machine.

[0002] A control device for a multi-winding motor is known for controlling a multi-winding motor having a plurality of windings in one motor by means of a plurality of inverters. For example, JP 2003-153585 A, which corresponds to US 2003 / 0085683 A1, proposes a control system in which mutual interference between the current control systems of the respective windings is compensated to bring them into a state where there is no mutual interference.

[0003] However, JP 2003-153 585 A does not describe the control in the event of a short-circuit fault occurring, for example, in switching elements that form the inverter.

[0004] US Pat. No. 8,410,740 B2 also discloses an energy conversion device that converts electrical energy supplied to a motor having a winding set formed of coils corresponding to a plurality of phases. An inverter section includes a plurality of FETs forming switching element pairs corresponding to a respective phase of the winding set. Pull-up resistors are provided between the coils and a high-potential side of a battery. A neutral-point voltage detection section detects a neutral-point voltage of the winding set. A microcomputer detects an abnormality based on the neutral-point voltage.

[0005] US 2013 / 0 090 809 A1 discloses a power steering system, US 5 499 186 A teaches another energy conversion device, DE 10 2012 221 536 A1 describes a motor control device, and DE 10 2011 000 024 A1 shows a motor drive device and an associated electric power steering device.

[0006] It is an object of the present disclosure to provide a control device for a rotating electrical machine in which the drive of a rotating electrical machine is appropriately controlled even when a short-circuit failure partially occurs.

[0007] The object is achieved by a control device for a rotating electrical machine according to claim 1. Advantageous further developments are the subject of the subclaims.

[0008] According to one aspect of the present disclosure, a rotating electric machine control device for controlling the drive of a rotating electric machine having a plurality of winding groups magnetically coupled to each other includes: an inverter disposed in each of the winding groups and having a high-potential-side switching element corresponding to each phase of each winding group, and a low-potential-side switching element connected to a low-potential side of the high-potential-side switching element; and a controller that controls the inverter in each of the winding groups. Each of the winding groups and the inverter corresponding to each winding group constitute a system.The controller includes: a signal generator that generates a control signal for controlling the on- and off-operation of each of the high-potential-side switching elements and the low-potential-side switching elements; a disturbance voltage estimator that calculates a disturbance voltage estimate obtained by estimating a disturbance voltage generated in a normal system in which no short-circuit disturbance occurs, based on a current flowing in a faulty system / failure system when a short-circuit disturbance occurs in the faulty system; and an instruction calculation device that calculates, according to the disturbance voltage estimate, a normal-system instruction value related to controlling the energization of the normal system. A high-side bus connects high-potential sides of the high-potential-side switching elements in each of the winding groups.A low-side bus connects the low-potential sides of the low-potential switching elements in each of the winding groups. A short-circuit fault is defined as a fault in which the high-side bus or the low-side bus is electrically connected to a phase of a respective winding group.

[0009] Accordingly, even if a short-circuit fault occurs in a certain system, the normal system can be controlled without being affected by a current flowing in the faulty system, thereby properly controlling the rotating electrical machine by using the normal system.

[0010] The object, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. Fig. 1 is a rough layout diagram showing an electric power steering apparatus according to a first embodiment of the present disclosure; Fig. 2 is a circuit diagram showing a circuit configuration of a control device for a rotating electrical machine according to the first embodiment of the present disclosure; Fig. 3 is a block diagram showing a control section according to the first embodiment of the present disclosure; Fig. 4 is a block diagram showing a control section according to a second embodiment of the present disclosure; Fig. 5 is a block diagram showing a control section according to a third embodiment of the present disclosure; Fig. 6 is a block diagram showing a control section according to a fourth embodiment of the present disclosure; Fig. 7 is a flowchart for explaining processing for determining a noisy phase according to the fourth embodiment of the present disclosure; Fig. 8 is a block diagram showing a control section according to a fifth embodiment of the present disclosure; and the Fig. 9A and Fig. 9B are explanatory diagrams for explaining control of an inverter section in a noisy system according to a sixth embodiment of the present disclosure.

[0011] Hereinafter, a control device for a rotating electrical machine according to the present disclosure will be described with reference to the drawings. In the following several embodiments, substantially the same configurations are denoted by the same reference numerals, and repeated descriptions thereof will be omitted. (First embodiment)

[0012] In Fig. 1 to 3, a control device for a rotating electric machine according to a first embodiment of the present disclosure is shown. A control device 1 for a rotating electric machine of the present embodiment is applied to an electric power steering device 5 for assisting a driver's steering operation, together with a motor 10 as a rotating electric machine.

[0013] Fig. 1 shows an overall configuration of a steering system 90 equipped with the electric power steering device 5. The steering system 90 includes a steering wheel 91, a steering shaft 92, a pinion gear 96, a rack shaft 97, wheels 98, the electric power steering device 5, and the like.

[0014] The steering wheel 91 is connected to the steering shaft 92. The steering shaft 92 is provided with a torque sensor 94 for detecting a steering torque input when the driver operates the steering wheel 91. The pinion gear 96 is provided at the tip of the steering shaft 92 and meshes with the rack shaft 97. Two wheels 98 are coupled to either side of the rack shaft 97 via tie rods or the like.

[0015] Therefore, when the driver turns the steering wheel 91, the steering shaft 92 connected to the steering wheel 91 rotates. The rotational movement of the steering shaft 92 is converted by the pinion gear 96 into a linear movement of the rack axis 97, and the two wheels 98 are turned at an angle corresponding to a displacement amount of the rack axis 97.

[0016] The electric power steering device 5 is provided with a motor 10 for outputting an auxiliary torque to assist the steering operation performed by the driver at the steering wheel 91, the rotating electric machine control device 1 used to control the drive of the motor 10, a reduction gear 9 for reducing the rotation of the motor 10 to transmit the reduced rotation to the steering shaft 92 or the rack shaft 97, and the like.

[0017] The motor 10 is powered by a battery 30 (see Fig. 2) is supplied with power in the form of a direct current supply to rotate the reduction gear 9 forward and backward.

[0018] As in Fig. As shown in Figure 2, the motor 10 is a three-phase brushless motor with a rotor and a stator, each of which is not shown. The rotor is a cylindrical part with a permanent magnet bonded to its surface, providing the rotor with magnetic poles. Winding groups 11, 12 are wound around the stator.

[0019] The first winding group 11 comprises a U1 coil 111, a V1 coil 112, and a W1 coil 113. The second winding group 12 comprises a U1 coil 121, a V2 coil 122, and a W2 coil 123.

[0020] The first winding group 11 and the second winding group 12 are not electrically coupled, but are wound around the same stator and magnetically coupled by a magnetic circuit formed by the motor 10. Furthermore, the U1 coil 111 of the first winding group 11 and the U2 coil 121 of the second winding group 12 are arranged in positions such that their phases are offset from each other by 30 degrees. This also applies to the V phase and the W phase.

[0021] The rotating electrical machine control device 1 is provided with a first inverter section 21, a second inverter section 22, a first current detection section 26, a second current detection section 27, a rotation angle sensor 29, a first power supply relay 31, a second power supply relay 32, a first capacitor 33, a second capacitor 34, a drive circuit (pre-drive unit) 35, a control section 41, and the like.

[0022] The first inverter section 21 includes six switching elements (hereinafter referred to as “SW elements”) 211 to 216 and switches the coils 111, 112, 113 of the first winding group 11 into the conductive state.

[0023] Drains of the high-potential-side SW elements 211, 212, 213 provided on the high-potential side are connected to the positive side of the battery 30 via a first upper-side bus 218. Sources of the high-potential-side SW elements 211, 212, 213 are connected to drains of the low-potential-side SW elements 214, 215, 216 provided on the low-potential side. Sources of the low-potential-side SW elements 214, 215, 216 are connected to the negative side of the battery 30 via a first lower-side bus 219. Connection points of the high-potential side SW elements 211, 212, 213 and the low-potential side SW elements 214, 215, 216 are each connected to one end of the U1 coil 111, the V1 coil 112, and the W1 coil 113, respectively.

[0024] The second inverter section 22 has six SW elements 221 to 226 and switches the coils 121, 122, 123 of the second winding group 12 into the conducting state.

[0025] Drains of the high-potential-side SW elements 221, 222, 223 are connected to the positive side of the battery 30 via a second top-side bus 228. Sources of the high-potential-side SW elements 221, 222, 223 are connected to drains of the low-potential-side SW elements 224, 225, 226. Sources of the low-potential-side SW elements 224, 225, 226 are connected to the negative side of the battery 30 via a second bottom-side bus 229. Connection points of the high-potential-side SW elements 221, 222, 223 and the low-potential-side SW elements 224, 225, 226 are each connected to one end of the U2 coil 121, the V2 coil 122, and the W2 coil 123, respectively.

[0026] Each of the SW elements 211 to 216, 221 to 226 of the present embodiment is a MOSFET (Metal Oxide Semiconductor Field Effect Transistor), but may also be an IGBT (Insulated Gate Bipolar Transistor), a thyristor, or the like.

[0027] The first current detection section 26 includes current detection elements 261, 262, 263. The current detection element 261 is provided on the low potential side of the SW element 214 and detects a U1 current Iu1, which is a current to be supplied to the U1 coil 111. The current detection element 262 is provided on the low potential side of the SW element 215 and detects a V1 current Iv1, which is a current to be supplied to the V1 coil 112. The current detection element 263 is provided on the low potential side of the SW element 216 and detects a W1 current Iw1, which is a current to be supplied to the W1 coil 113. A detection value of the current detection element 261 is referred to as U1 current detection value lu1_s, a detection value of the current detection element 262 is referred to as V1 current detection value Iv1_s, and a detection value of the current detection element 263 is referred to as W1 current detection value Iw1_s.

[0028] The second current detection section 27 includes current detection elements 271, 272, and 273. The current detection element 271 is provided on the low-potential side of the SW element 224 and detects a U2 current Iu2, which is a current to be supplied to the U2 coil 121. The current detection element 272 is provided on the low-potential side of the SW element 225 and detects a V2 current Iv2, which is a current to be supplied to the V2 coil 122. The current detection element 273 is provided on the low-potential side of the SW element 226 and detects a W2 current Iw2, which is a current to be supplied to the W2 coil 123.

[0029] The current detection elements 261 to 263, 271 to 273 of the present invention are shunt resistors.

[0030] The rotation angle sensor 29 detects a rotation angle of the motor 10. An electrical angle θ of the motor 10 detected by the rotation angle sensor 29 is output to the control section 41.

[0031] The first power supply relay 31 can interrupt the power supply from the battery 30 to the first inverter section 21. The second power supply relay 32 can interrupt the power supply from the battery 30 to the second inverter section 22. The power supply relays 31, 32 are MOSFETs, similar to the SW elements 211 and the like, but the power supply relays 31, 32 may also be IGBTs, mechanical relays, or the like. Furthermore, in the case of using a MOSFET for the power supply relay 31, it is preferable to provide a reverse connection protection relay (not shown) connected in series with each power supply relay 31, 32 to reverse a diode direction so that if the battery 30 is mistakenly connected in the opposite direction, current flow through the diode in the reverse direction is prevented.

[0032] The first capacitor 33 is connected in parallel with the battery 30 and the first inverter section 21. The second capacitor 34 is connected in parallel with the battery 30 and the second inverter section 22. The capacitors 33, 34 store charges to support the power supply to the inverter sections 21, 22 and reduce noise components such as peak current.

[0033] In the present embodiment, the first winding group 11, the first inverter section 21 for conducting the first winding group 11, the first current detection section 26, the first power supply relay 31, and the first capacitor 33 are referred to as the "first system 101." Furthermore, the second winding group 12, the second inverter section 22 for conducting the second winding group 12, the second current detection section 27, the second power supply relay 32, and the second capacitor 34 are referred to as the "second system 102."

[0034] The control section 41 controls the entire rotating electrical machine control device 1 and is composed of a microcomputer or the like that performs a variety of calculations. Each processing in the control section 41 may be software processing performed by executing a program pre-stored in a CPU, or may be hardware processing performed by a dedicated electronic circuit.

[0035] The control section 41 has a signal generation section 48. The signal generation section 48 generates a control signal for controlling the on / off of each of the SW elements 211 to 216, 221 to 226 based on the steering torque detected by the torque sensor 94, the electrical angle θ detected by the rotation angle sensor 29, and the like. The generated control signal is output to the respective gates of the SW elements 211 to 216, 221 to 226 via a drive circuit (pre-drive unit) 35.

[0036] The control section 41 controls the on / off operation of each of the SW elements 211 to 216, 221 to 226 to control the drive of the motor 10.

[0037] Similarly, each of the control sections 42 to 45 in the embodiments described below includes the signal generating section 48. It should be noted that in Fig. 2 no detailed description of the control design is given, with the exception of the description of the signal generation section 48.

[0038] In the second system 102, a fault may occur in which the second upper-side bus 228 and each phase of the second winding group 12 cannot be electrically separated and enter a largely conductive state. Furthermore, a fault may occur in which the second lower-side bus 229 and each phase of the second winding group 12 cannot be electrically separated and enter a largely conductive state.

[0039] The failure in which the second upper-side bus 228 or the second lower-side bus 229 and each phase of the second winding group 12 cannot be electrically separated and enters a largely conductive state, as described above, is referred to as a "short-circuit failure." Short-circuit failures include an element failure in which the SW elements 221 to 226 themselves are short-circuited, a wiring failure in which a short circuit occurs between wires, a winding failure, and a signal failure from the control section 41.

[0040] In the present embodiment, the first winding group 11 and the second winding group 12 are magnetically coupled. Furthermore, the rotor includes a magnet. Accordingly, when the driving of the motor 10 in the first system 101 continues in a case where a short-circuit fault occurs in the second system 102, a current also flows in the second winding group 12 due to an induced voltage generated by the driving of the motor 10. This may hinder the control in the first system 101, which operates normally. This also applies to the case where the short-circuit fault occurs in the first system 101. Hereinafter, a description will be given taking the case where a short-circuit fault occurs in the second system 102 as an example, and the description of the case where a short-circuit fault occurs in the first system 101 will be omitted. This also applies to the embodiments described below.

[0041] Therefore, in the present embodiment, the control section 41 controls a system in which no short-circuit fault has occurred (hereinafter referred to as a "normal system"), considering the influence of a current flowing in a system in which the short-circuit fault has occurred (hereinafter referred to as a "faulty system"), thereby driving the motor 10 appropriately even when a short-circuit fault occurs. Hereinafter, it is assumed that the normal system is the first system 101, and the faulty system is the second system 102.

[0042] In the present embodiment, it is assumed that a phase in which the short-circuit fault occurred is specified, for example, based on terminal voltages or the like of the coils 121 to 123. For example, a phase in which the largest current is detected among the current detection elements 271, 272, 273 can be specified as the phase in which the short-circuit fault occurred, and when the terminal voltage is substantially equal to the power supply voltage (ie, the terminal voltage is within a predetermined range including the power supply voltage), it can be accurately said that the short-circuit fault occurred in the coil 121, 122, or 123 of the specified phase and in the second upper-side bus 228. In addition, when the terminal voltage is substantially equal to the ground voltage, for example (ie,the terminal voltage is within a predetermined range including a ground voltage), it can be precisely determined that the short-circuit fault has occurred in the coil 121, 122 or 123 of the specified phase and in the second lower-side bus 229.

[0043] Fig. 3 shows a detail of the control section 41. A representation inside the engine 10 in Fig. Figure 3 shows voltage equations. Details of the voltage equations are described in the embodiments described below.

[0044] An interpretation related to the control of the first system 101 is shown in Fig. 3, and the second system 102 is assumed to have a similar control configuration. When the second system 102 is the abnormal system, the first system 101, which is the normal system, is controlled to drive the motor 10. The second inverter section 22 is controlled to turn off all the SW elements 221 to 226 and the second power supply relay 32. That is, the signal generating section 48 generates a control signal to turn off all the SW elements 221 to 226 and the second inverter section 22. This also applies to the second to fifth embodiments.

[0045] As in Fig. 3, the control section 41 includes an instruction calculation section 51, a first current estimator 61, a first disturbance voltage estimator 62, and a torque calculation unit 63.

[0046] The instruction calculation section 51 includes a three-phase-to-two-phase conversion section 510, a torque correction section 511, subtractors 512, 513, controllers 514, 515, dq-interaction-free voltage calculation sections 516, 517, interaction-free voltage correction sections 518, 519, a two-phase-to-three-phase conversion section 520, and disturbance voltage correction sections 521, 522, 523. The instruction calculation section 51 described here calculates an instruction for the normal system in a case where the short-circuit disturbance has occurred in the disturbance system, and when the rotating electrical machine control device 1 is operating normally, the instruction calculation is executed in separate processing. This also applies to an instruction calculation section in each of the embodiments described below.

[0047] The three-phase-to-two-phase conversion section 510 performs dq conversion on the U1 current detection value lu1_s, the V1 current detection value Iv1_s, and the W1 current detection value Iw1_s, which are detected by the first current detection section 26 based on the electrical angle θ, to calculate a d-axis current detection value Id1_s and a q-axis current detection value Iq1_s of the first winding group 11. Here, the dq-axis current detection values ​​Id1_s and Iq1_s are values ​​obtained by simply performing dq conversion on the three-phase current detection values ​​lu1_s, Iv1_s, and Iws1_s. Both of these current detection values ​​are included in the concept of "current detection value" and can be selected as appropriate. Similarly, for a disturbance voltage estimate and a current estimate described below, it can be appropriately selected whether the three-phase values ​​or the dq-axis values ​​are used.

[0048] The torque correction section 511 adds the torque correction value Iq_c calculated in the torque calculation unit 63 to a q-axis current command value Iq* to calculate a corrected q-axis current command value Iq**.

[0049] The d-axis subtractor 512 calculates a d-axis current deviation ΔId. The d-axis current deviation ΔId of the present embodiment is a deviation between a d-axis current command value Id* and the d-axis current detection value Id1_s, which is fed back.

[0050] The q-axis subtractor 513 calculates a q-axis current deviation ΔIq. The q-axis current deviation ΔIq of the present embodiment is a deviation between the corrected q-axis current command value Iq** and the q-axis current detection value Iq1_s, which is fed back.

[0051] The d-axis controller 514 calculates a basic d-axis voltage command value Vd*_b by a PI calculation or the like such that the d-axis current deviation ΔId approaches 0.

[0052] The q-axis controller 515 calculates a basic q-axis voltage command value Vq*_b by a PI calculation or the like such that the q-axis current deviation ΔIq approaches 0.

[0053] The dq-interaction-free voltage calculation section 516 calculates an interaction-free d-axis voltage Vd_dc based on the q-axis current deviation ΔIq.

[0054] The dq interaction-free voltage calculation section 517 calculates an interaction-free q-axis voltage Vq_dc based on the d-axis current deviation ΔId.

[0055] The d-axis interaction-free voltage correction section 518 subtracts the d-axis interaction-free voltage Vd_dc from the basic d-axis voltage command value Vd*_b to calculate a d-axis voltage command value Vd*.

[0056] The q-axis interaction-free voltage correction section 519 adds the q-axis interaction-free voltage Vq_dc to the basic q-axis voltage command value Vq*_b to calculate a q-axis voltage command value Vq*.

[0057] The two-phase-to-three-phase conversion section 520 performs reverse dq conversion on the d-axis voltage command value Vd* and the q-axis voltage command value Vq* based on the electrical angle θ to calculate a U-phase voltage command value Vu*, a V-phase voltage command value Vv*, and a W-phase voltage command value VW*, where the value Vv* and the value VW* are values ​​before correction.

[0058] The U-phase noise voltage correcting section 521 adds a first noise voltage estimated value Vu_g1 corresponding to the U-phase to the U-phase voltage command value Vu* to calculate a corrected U-phase voltage command value Vu**.

[0059] The V-phase noise voltage correction section 522 adds a first noise voltage estimate value Vv_g1 corresponding to the V-phase to the V-phase voltage command value Vv* to calculate a corrected V-phase voltage command value Vv**.

[0060] The W-phase noise voltage correcting section 523 adds a first noise voltage estimated value Vw_g1 corresponding to the W-phase to the W-phase voltage command value Vw* to calculate a corrected W-phase voltage command value Vw**.

[0061] The calculated corrected voltage command values ​​Vu**, Vv**, Vw** are sent to the signal generation section (see Fig. 2) 48. The signal generating section 48 generates a control signal for controlling the on / off of the respective SW elements 211 to 216 based on the corrected voltage command values ​​Vu**, Vv**, Vw**. The generated control signal is output by the drive circuit 35 (see Fig. 2) is output to the first inverter section 21. In Fig. 3, descriptions of the signal generating section 48 and the drive circuit 35 are omitted. This also applies to Fig. 4 and some other drawings still to be described.

[0062] The first current estimator 61 calculates first current estimates Iu_f1, Iv_f1, Iw_f1, which are values ​​obtained by estimating failure system currents Iu_f, Iv_f, Iw_f flowing in the faulty system due to a reverse voltage. The first current estimates Iu_f1, Iv_f1, Iw_f1 are calculated using circuit equations based on the electrical angle θ and a rotational angular velocity ω calculated by time-deriving the electrical angle θ. The first current estimates Iu_f1, Iv_f1, Iw_f1 can be calculated by a map calculation using a previously stored map instead of the circuit equations.

[0063] The first current estimates Iu_f1, Iv_f1, Iw_f1 are output to the first disturbance voltage estimator 62 and the torque calculation unit 63.

[0064] The first disturbance voltage estimator 62 calculates first disturbance voltage estimates Vu_g1, Vv_g1, Vw_g1, which are values ​​obtained by estimating disturbance voltages Vu_g, Vv_g, Vw_g generated in the normal system by the failure system currents Iu_f, Iv_f, Iw_f. The first disturbance voltage estimates Vu_g1, Vv_g1, Vw_g1 are calculated based on the first current estimates Iu_f1, Iv_f1, Iw_f1. The first disturbance voltage estimates Vu_g1, Vv_g1, Vw_g1 are calculated using expressions (1-1) to (1-3). Note that M in the expressions represents a mutual inductance generated between the first winding group 11 and the second winding group 12, which are magnetically coupled. Furthermore, s in the expressions represents a Laplace variable. Vu_g1=M×s×Iu_f1−M×s×Iv_f1 Vv_g1=M×s×Iv_f1−M×s×Iw_f1 Vw_g1=M×s×Iw_f1−M×s×Iu_f1

[0065] The calculated first noise voltage estimates Vu_g1, Vv_g1, Vw_g1 are output to the noise voltage correction sections 521, 522, 523.

[0066] The torque calculation unit 63 calculates a braking torque Tb generated by the first current estimates Iu_f1, Iv_f1, Iw_f1. The braking torque Tb is calculated by Expression (2). Note that Kt in the expression is a torque conversion coefficient. Tb=Iu_f1×Kt×sinθ+Iv_f1×Kt×sin(θ−120)+Iw_f1×Kt×sin(θ+120)

[0067] Furthermore, the torque calculation unit 63 converts the calculated braking torque Tb into a q-axis current to calculate the torque correction value Iq_c.

[0068] In the present embodiment, the noise voltage correction sections 521, 522, 523 add the first noise voltage estimate values ​​Vu_g1, Vv_g1, Vw_g1 to the voltage command values ​​Vu*, Vv*, Vw*. In other words, the command calculation section 51 calculates the corrected voltage command values ​​Vu**, Vv**, Vw** obtained by compensating the noise voltages Vu_g, Vv_g, Vw_g.

[0069] Furthermore, the torque correction section 511 adds the torque correction value Iq_c to the q-axis current command value Iq*. In other words, it can also be noted that the command calculation section 51 calculates the corrected voltage command values ​​Vu**, Vv**, Vw** by using a corrected current command value Iq** obtained by compensating the braking torque generated by the current flowing in the noisy system.

[0070] This means that even if a short-circuit fault occurs in a system, the corrected voltage command values ​​Vu**, Vv**, Vw** are calculated by correcting influences of the currents flowing in the faulty system to ensure adequate control of the normal system.

[0071] As described above in detail, the rotating electric machine control device 1 of the present embodiment controls the drive of the motor 10 having a plurality of winding groups 11, 12 magnetically coupled to each other, and the rotating electric machine control device 1 is provided with the inverter sections 21, 22 and the control section 41.

[0072] The inverter sections 21, 22 are provided for the winding groups 11, 12, respectively. The first inverter section 21 includes the high-potential side SW elements 211 to 213, which are provided corresponding to the respective phases of the first winding group 11, and the low-potential side SW elements 214 to 216, which are respectively connected to the low-potential sides of the high-potential side SW elements 211 to 213. The second inverter section 22 includes the high-potential side SW elements 221 to 223, which are provided corresponding to the respective phases of the second winding group 12, and the low-potential side SW elements 224 to 226, which are respectively connected to the low-potential sides of the high-potential side SW elements 221 to 223.

[0073] The control section 41 controls the inverter sections 21, 22. More specifically, the control section 41 controls the turning on / off operation of each of the SW elements 211 to 216, 221 to 226 of the inverter sections 21, 22.

[0074] In the present embodiment, the winding groups 11, 12 and the inverter sections 21, 22 provided corresponding to the winding groups 11, 12 are referred to as the "systems." Specifically, the first winding group 11 and the first inverter section 21 are referred to as the first system 101, and the second winding group 12 and the second inverter section 22 are referred to as the second system 102.

[0075] The control section 41 includes the signal generating section 48, the first noise voltage estimator 62, and the instruction calculating section 51.

[0076] The signal generating section 48 generates a control signal for controlling the on / off operation of each of the high-potential side SW elements 211 to 213, 221 to 223 and the low-potential side SW elements 214 to 216, 224 to 226.

[0077] Herein, a "short-circuit failure" refers to a failure in which the first upper-side bus 218 for connecting the high-potential sides of the high-potential side SW elements 211 to 213 or the first lower-side bus 219 for connecting the low-potential sides of the low-potential side SW elements 214 to 216 and any phase of the first winding group 11 become conductive. Similarly, a "short-circuit failure" refers to a failure in which the second upper-side bus 228 for connecting the high-potential sides of the high-potential side SW elements 221 to 223 or the second lower-side bus 229 for connecting the low-potential sides of the low-potential side SW elements 224 to 226 and any phase of the second winding group 12 become conductive.It should be noted that the “conductive state” is not limited to a completely short-circuited state, but as described above includes the state that conductivity exists to such an extent that there is no electrical interruption.

[0078] In addition, a system in which the short-circuit fault has occurred is called a “faulty system” or “failure system”, and a system in which the short-circuit fault has not occurred is called a “normal system” or “normal system”.

[0079] When a short-circuit fault has occurred, the first disturbance voltage estimator 62 calculates the first disturbance voltage estimation values ​​Vu_g1, Vv_g1, Vw_g1, which are values ​​obtained by estimating disturbance voltages Vu_g, Vv_g, Vw_g, which are voltages generated in the normal system by currents flowing in the faulty system.

[0080] The instruction calculation section 51 calculates the corrected voltage instruction values ​​Vu**, Vv**, Vw** related to the line to the normal system according to the first noise voltage estimation values ​​Vu_g1, Vv_g1, Vw_g1.

[0081] Accordingly, even if a short-circuit fault occurs in any system, the normal system can be controlled without being affected by the failure system currents Iu_f, Iv_f, Iw_f, thereby driving the motor 10 appropriately by means of the normal system.

[0082] The command calculation section 51 corrects the voltage command values ​​Vu*, Vv*, Vw* calculated based on the current command values ​​Id*, Iq* related to the drive of the motor 10 and based on the current detection values ​​lu1_s, Iv1_s, Iw1_s of the respective phases in the normal system, by means of the first disturbance voltage estimation values ​​Vu_g1, Vv_g1, Vw_g1 to calculate the corrected voltage command values ​​Vu**, Vv**, Vw**.

[0083] This allows the normal system to be controlled in a more appropriate manner without being affected by the failure system currents Iu_f, Iv_f, Iw_f.

[0084] The first disturbance voltage estimates Vu_g1, Vv_g1, Vw_g1 are calculated based on the rotational angular velocity ω of the motor 10.

[0085] Consequently, the disturbance voltages Vu_g, Vv_g, Vw_g can be conveniently estimated by a relatively simple calculation using a feedback control.

[0086] In the present embodiment, when a short-circuit fault occurs, the signal generating section 48 generates a control signal to turn off all high-potential-side SW elements 221 to 223 and all low-potential-side SW elements 224 to 226 of the second inverter section 22, which is the inverter section in the faulty system. This allows the fault voltages Vu_g, Vv_g, Vw_g to be minimized.

[0087] In the present embodiment, the command calculation section 51 corresponds to the "command calculation device," the first disturbance voltage estimator 62 corresponds to the "disturbance voltage estimator," and the signal generation section 48 corresponds to the "signal generation device." Furthermore, the first disturbance voltage estimates Vu_g1, Vv_g1, Vw_g1 correspond to the "disturbance voltage estimates," and the corrected voltage command values ​​Vu**, Vv**, Vw** correspond to the "normal system command values." (Second embodiment)

[0088] A second embodiment of the present disclosure will be described with reference to Fig. 4 described.

[0089] A control section 42 of the present embodiment includes an instruction calculation section 53, a second noise voltage estimator 71, a bandpass filter 73, a second current estimator 75, and a three-phase-to-two-phase conversion section 77.

[0090] The command calculation section 53 includes the three-phase-to-two-phase conversion section 510, current command value correction sections 531, 532, subtractors 533, 534, controllers 514, 515, dq-interaction-free voltage calculation sections 516, 517, interaction-free voltage correction sections 518, 519, two-phase-to-three-phase conversion section 520, and disturbance voltage correction sections 541, 542, 543.

[0091] The d-axis current command value correcting section 531 adds to the d-axis current command value Id* a second d-axis current command value Id_f2, which is a value obtained by performing dq conversion in the three-phase to two-phase conversion section 77 on second current estimation values ​​Iu_f2, Iv_f2, Iw_f2 estimated in the second current estimator 75, to calculate a corrected d-axis current command value Id**.

[0092] The q-axis current command value correcting section 532 adds to the q-axis current command value Iq* a second q-axis current command value Iq_f2, which is a value obtained by performing dq conversion in the three-phase to two-phase conversion section 77 on the second current estimated values ​​Iu_f2, Iv_f2, Iw_f2 estimated in the second current estimator 75, to calculate a corrected q-axis current command value Iq**.

[0093] The d-axis subtractor 533 calculates a d-axis current deviation ΔId. The d-axis current deviation ΔId of the present embodiment is a deviation between the corrected d-axis current command value Id** and the d-axis current detection value Id1_s, which is fed back.

[0094] The q-axis subtractor 534 calculates a q-axis current deviation ΔIq. The q-axis current deviation ΔIq of the present embodiment is a deviation between the corrected q-axis current command value Iq** and the q-axis current detection value Iq1_s, which is fed back.

[0095] The U-phase noise voltage correction section 541 adds a second noise voltage estimate value Vu_g2 associated with the U-phase to the U-phase voltage command value Vu* to calculate a corrected U-phase voltage command value Vu**.

[0096] The V-phase noise voltage correction section 542 adds a second noise voltage estimate value Vv_g2 associated with the V-phase to the V-phase voltage command value Vv* to calculate a corrected V-phase voltage command value Vv**.

[0097] The W-phase noise voltage correcting section 543 adds a second noise voltage estimated value Vw_g2 associated with the W-phase to the W-phase voltage command value Vw* to calculate a corrected W-phase voltage command value Vw**.

[0098] The second disturbance voltage estimator 71 calculates second disturbance voltage estimates Vu_g2, Vv_g2, Vw_g2, which are values ​​obtained by estimating disturbance voltages Vu_g, Vv_g, Vw_g generated in the normal system by the failure system currents Iu_f, Iv_f, Iw_f. The second disturbance voltage estimates Vu_g2, Vv_g2, Vw_g2 are calculated using voltage equations based on the voltage command values ​​Vu*, Vv*, Vw*, the current detection values ​​Iu1_s, Iv1_s, Iw1_s, and the rotation angular velocity ω.

[0099] The voltage equations of the three phases of the motor 10, which is a multi-winding motor, are expressed by expressions (3-1) to (3-3). Vu1=R×Iu1+L×s×Iu1+M×s×Iu2−M×s×Iv2+ω×φu1 Vv1=R×Iv1+L×s×Iv1+M×s×Iv2−M×s×Iw2+ω×φv1 Vw1=R×Iw1+L×s×Iw1+M×s×Iw2−M×s×Iu2+ω×φw1

[0100] The symbols in the expressions are as follows: Vu1: Voltage of the U1 coil 111 Vv1: Voltage of the V1 coil 112 Vw1: Voltage of the W1 coil 113 R: Resistance L: Self-inductance M: mutual inductance ω: electrical angular velocity φu1, φv1, φw1: anchor network penetration

[0101] The disturbance voltages Vu_g, Vv_g, Vw_g are expressed by expressions (4-1) to (4-3). Vu_g=M×s×Iu_f Vv_g=M×s×Iu_f Vw_g=M×s×Iu_f

[0102] It should be noted that in the engine 10 of Fig. 4 the expressions (3-1) to (3-3) and the expressions (4-1) to (4-3) are represented by a diagram. This also applies to Fig. 5 and the like.

[0103] Furthermore, the second disturbance voltage estimation values ​​Vu_g2, Vv_g2, Vw_g2 can be calculated via expressions (5-1) to (5-3) from the voltage command values ​​Vu*, Vv*, Vw*, the current detection values ​​lu1_s, Iv1_s, Iws_s, and the rotation angular velocity ω. Vu_g2=Vu*−(R×Iu1_s+L×s×Iu1_s+ω×φu1) Vr_g2=Vv*−(R×Iv1_s+L×s×Iv1_s+ω×φv1) Vw_g2=Vw*−(R×Iw1_s+L×s×Iw1_s+ω×φw1)

[0104] The second noise voltage estimates Vu_g2, Vv_g2, Vw_g2 estimated in the second noise voltage estimator 71 include an influence of temperature characteristics, an influence of a current detection error, signal noise, and an output voltage error. Accordingly, in the present embodiment, the band-pass filter 73 is used so as to reduce the influences of a detection error and the like as described above. Thus, it is possible to extract the second noise voltage estimates Vu_g2, Vv_g2, Vw_g2 with a desired frequency component. The frequency characteristics of the band-pass filter 73 can be made variable according to the electrical angular velocity. This also applies to a band-pass filter 74, which will be described later. Hereinafter, values ​​output from the band-pass filter 73 are simply referred to as "second noise voltage estimates Vu_g2, Vv_g2, Vw_g2."

[0105] The second noise voltage estimate values ​​Vu_g2, Vv_g2, Vw_g2 output from the bandpass filter 73 are added to the voltage command values ​​Vu*, Vv*, Vw* in the noise voltage correcting sections 541, 542, 543 to calculate the corrected voltage command values ​​Vu**, Vv**, Vw**.

[0106] The second current estimator 75 calculates second current estimates Iu_f2, Iv_f2, Iw_f2, which are values ​​obtained by estimating the failover system currents Iu_f, Iv_f, Iw_f. The second current estimates Iu_f2, Iv_f2, Iw_f2 are calculated based on the second disturbance voltage estimates Vu_g2, Vv_g2, Vw_g2. The second disturbance estimates Iu_f2, Iv_f2, Iw_f2 can be calculated using expressions (7-1), (7-2), (7-3) under the assumption of expression (6). Iu_f2+Iv_f2+Iw_f2=0 Iu_f2=(Vu_g−Vw_g) / (3×M×s) Iv_f2=(Vv_g−Vu_g) / (3×M×s) lw_f2=(Vw_g−Vv_g) / (3×M×s)

[0107] In the present embodiment, the second noise voltage estimates Vu_g2, Vv_g2, Vw_g2 and the second current estimates Iu_f2, Iv_f2, Iw_f2 are calculated using a three-phase model, eliminating the need to consider interference between the dq axes. Furthermore, using a three-phase sum = 0, as shown in Expression (6), simplifies the calculation.

[0108] The estimated second current estimates Iu_f2, Iv_f2, Iw_f2 are subjected to dq conversion in the three-phase-to-two-phase conversion section 77. The second current estimates Id_f2, Iq_f2 calculated in the three-phase-to-two-phase conversion section 77 are output to the current command value correction sections 531, 532.

[0109] In the present embodiment, the second noise voltage estimation values ​​Vu_g2, Vv_g2, Vw_g2 are calculated based on the current detection values ​​Iu1_s, Iv1_s, Iw2_s of the respective phases in the normal system, and the voltage command values ​​Vu*, Vv*, Vw* are calculated based on the current command values ​​Id*, Iq* related to the drive of the motor 10 and based on the current detection values ​​Iu1_s, Iv1_s, Iw2_s.

[0110] This allows an adequate estimation of the disturbance voltages Vu_g, Vv_g, Vw_g by using the current measurement values ​​Id1_s, Iq1_s in the normal system without specifying a noisy phase.

[0111] The control section 42 has the second current estimator 75.

[0112] The second current estimator 75 calculates, based on the second disturbance voltage estimation values ​​Vu_g2, Vv_g2, Vw_g2, second current estimation values ​​Iu_f2, Iv_f2, Iw_f2, which are values ​​obtained by estimating the failure system currents Iu_f, Iv_f, Iw_f, which represent currents flowing in the failure system.

[0113] This allows an adequate estimation of the failure system currents Iu_f, Iv_f, Iw_f based on the second disturbance voltage estimates Vu_g2, Vv_g2, Vw_g2, which are calculated based on the current detection values ​​lu1_s, Iv1_s, Iw1_s in the normal system.

[0114] The command calculation section 53 calculates the corrected voltage command values ​​Vu**, Vv**, Vw** based on the corrected current detection values ​​Id**, Iq** obtained by correcting the current command values ​​Id*, Iq* by means of the second current estimation values ​​Id_f2, Iq_f2.

[0115] Thus, it is possible to compensate for a braking torque caused by the failure system currents Iu_f, Iv_f, Iw_f in the normal system, so as to reduce a fluctuation in the torque when both systems overlap.

[0116] Furthermore, an effect similar to the above embodiments is exerted.

[0117] In the present embodiment, the command calculation section 53 corresponds to the "command calculation device," the second noise voltage estimator 71 corresponds to the "noise voltage estimator," and the second current estimator 75 corresponds to the "current estimator." Furthermore, the second noise voltage estimation values ​​Vu_g2, Vv_g2, Vw_g2 correspond to the "noise voltage estimation values," and the three-phase second current estimation values ​​Iu_f2, Iv_f2, Iw_f2 and the second dq-axis current estimation values ​​Id_f2, Iq_f2 correspond to the "current estimation values." The others are similar to those in the above embodiments. (Third embodiment)

[0118] A third embodiment of the present disclosure will be described with reference to Fig. 5. One difference is that the present embodiment uses dq-axis voltage equations, while the second embodiment uses three-phase voltage equations. The dq-axis model is used instead of the three-phase model, which allows for a reduction in the number of arithmetic expressions.

[0119] As in Fig. 5, a control section 43 includes an instruction calculation section 55, a second noise voltage estimator 72, the bandpass filter 74, and a second current estimator 76.

[0120] The command calculation section 55 includes the three-phase-to-two-phase conversion section 510, the current command value correction sections 531, 532, the subtractors 533, 534, the controllers 514, 515, the dq-interaction-free voltage calculation sections 516, 517, the interaction-free voltage correction sections 518, 519, noise voltage correction sections 551, 552, and a two-phase-to-three-phase conversion section 553.

[0121] The d-axis noise voltage correction section 551 adds a second noise voltage estimate Vd_g2 to the d-axis voltage command value Vd* to calculate a corrected d-axis voltage command value Vd**.

[0122] The q-axis noise voltage correction section 552 adds a second noise voltage estimate Vq_g2 to the q-axis voltage command value Vq* to calculate a corrected q-axis voltage command value Vq**.

[0123] The two-phase-to-three-phase conversion section 553 performs reverse dq conversion on the corrected d-axis voltage command value Vd** and the corrected q-axis voltage command value Vq** based on the electrical angle θ to calculate a U-phase voltage command value Vu*, a V-phase voltage command value Vv*, and a W-phase voltage command value Vw*. The signal generation section 48 generates a control signal based on the voltage command values ​​Vu*, Vv*, Vw* instead of the corrected voltage command values ​​Vu**, Vv**, Vw**. This also applies to a fifth embodiment described below.

[0124] The second disturbance voltage estimator 72 calculates second disturbance voltage estimates Vd_g2, Vq_g2, which are values ​​obtained by estimating dq-axis disturbance voltages Vd_g, Vq_g generated in the normal system by the failure system currents Iu_f, Iv_f, Iw_f. The second disturbance voltage estimates Vd_g2, Vq_g2 are calculated using voltage equations based on the voltage command values ​​Vd*, Vq*, the current detection values ​​Id1_s, Iq1_s obtained by performing dq conversion in the three-phase-to-two-phase conversion section 510, and the rotation angular velocity ω.

[0125] The dq-axis voltage equations of the motor 10, which is a multi-winding motor, are expressed by expressions (8-1) and (8-2). Furthermore, Vd1 in the expression represents a d-axis voltage of the first winding group 11, and Vq1 in the expression represents a q-axis voltage of the first winding group 11. Furthermore, Id1 in the expression represents a d-axis current of the first winding group 11, and Iq1 in the expression represents a q-axis current of the first winding group 11. Vd1=R×Id1+L×s×Id1−ω×L×Iq1+M×s×Id2−ω×M×Iq2 Vq1=R×Id1+L×s×Id1+ω×L×Iq1+M×s×Id2+ω×M×Iq2+ω×φ1

[0126] The dq-axis disturbance voltages Vd_g, Vq_g are expressed by expressions (9-1), (9-2). Vd_g=M×s×Id_f−ω×M×Iq_f Vq_g=M×s×Id_f+ω×M×Id_f

[0127] Furthermore, the disturbance voltage estimation values ​​Vd_g2, Vq_g2 can be calculated via expressions (10-1), (10-2) from the voltage command values ​​Vd*, Vq*, the current detection values ​​Id1_s, Iq1_s and the rotation angular velocity ω. Vd_g2=Vd*−(R×Id1_s+L×s×Id1_s−ω×L×Iq1_s) Vq_g2=Vq*−(R×Id1_s+L×s×Id1_s+ω×L×Iq1_s+ω×φ)

[0128] Since the noise voltage estimates Vd_g2, Vq_g2 estimated by the noise voltage estimator 72 contain similar errors to those in the second embodiment, the bandpass filter 74 is applied to remove desired frequency components. Hereinafter, the values ​​output by the bandpass filter 74 are simply referred to as "noise voltage estimates Vd_g2, Vq_g2."

[0129] The noise voltage estimates Vd_g2, Vq_g2 output from the bandpass filter 74 are added to the voltage command values ​​Vd*, Vq* in the noise voltage correction sections 551, 552. Then, corrected voltage command values ​​Vd*, Vq* are calculated.

[0130] The second current estimator 76 calculates second current estimates Id_f2, Iq_f2, which are values ​​obtained by estimating the failover system currents Id_f, Iq_f. Second current estimates Id_f2, Iq_f2 are calculated based on the second disturbance voltage estimates Vd_g2, Vq_g2. The second current estimates Id_f2, Iq_f2 can be calculated from expressions (11-1), (11-2) by solving simultaneous equations of expressions (10-1), (10-2). Vd_g2=Vd*−(R×Id1_s+L×s×Id1_s−ω×L×Iq1_s) Vq_g2=Vq*−(R×Id1_s+L×s×Id1_s+ω×L×Iq1_s+ω×φ)

[0131] The estimated second dq-axis current estimates Id_f2, Iq_f2 are output to the current command value correcting sections 531, 532. In the present embodiment, since the second dq-axis current estimates Id_f2, Iq_f2 are calculated in the second current estimator 76, the three-phase-to-two-phase conversion section 77 provided in the second embodiment can be omitted, thus simplifying the control design.

[0132] The present embodiment exerts a similar effect to that of the second embodiment.

[0133] In the present embodiment, the command calculation section 55 corresponds to the "command calculation means," the second disturbance voltage estimator 72 corresponds to the "disturbance voltage estimator," and the second current estimator 76 corresponds to the "current estimator." Furthermore, the second disturbance voltage estimated values ​​Vd_g2, Vq_g2 correspond to the "disturbance voltage estimated values," the second current estimated values ​​Id_f2, Iq_f2 correspond to the "current estimated values," and the voltage command values ​​Vu*, Vv*, Vw* correspond to the "normal system command values." The others are similar to those in the above embodiments. (Fourth embodiment)

[0134] A fourth embodiment of the present disclosure will be described with reference to Fig. 6 and Fig. 7 described.

[0135] As in Fig. 6, a control section 44 includes an instruction calculation section 56, the first current estimator 61, the torque calculation unit 63, the second noise voltage estimator 71, the bandpass filter 73, the second current estimator 75, and a noisy phase detector 79.

[0136] The command calculation section 56 includes the three-phase to two-phase conversion section 510, the torque correction section 511, the subtractors 512, 513, the controllers 514, 515, the dq-interaction-free voltage calculation sections 516, 517, the interaction-free voltage correction sections 518, 519, the two-phase to three-phase conversion section 520, and the disturbance voltage correction sections 541, 542, 543.

[0137] The command calculation section 56 is similar to the command calculation section 51 of the first embodiment, except that the second disturbance voltage estimation values ​​Vu_g2, Vv_g2, Vw_g2 are added to the voltage command values ​​Vu*, Vv*, Vw* to calculate the corrected voltage command values ​​Vu**, Vv**, Vw**.

[0138] In the present embodiment, a location where the short-circuit failure occurs is accurately specified in the failure phase detector 79 by using the second current estimation values ​​Iu_f2, Iv_f2, Iw_f2 estimated in the second current estimator 75.

[0139] Processing for determining a faulty phase in the failure phase detector 79 is carried out with reference to a Fig. 7. The processing for determining a faulty phase is executed in the failure phase detector 79 within a predetermined period. Note that a calculation period for the processing for determining a faulty phase may be the same as a calculation period of the instruction calculation section 56, or it may be a longer period than the calculation period of the instruction calculation section 56.

[0140] In a first step S101 (hereinafter, "step" is omitted and simply denoted by the symbol "S"), it is determined whether or not the second current estimated value Iu_f2 associated with the U phase is greater than a positive-side shortage determination threshold value I_th. The positive-side shortage determination threshold value I_th may be a predetermined value or may be made variable such that an absolute value becomes larger with increasing rotational speed or rotational angular velocity ω of the motor 10. This also applies to a negative-side shortage determination threshold value -I_th. If it is determined that the second current estimated value Iu_f2 associated with the U phase is not greater than the positive-side shortage determination threshold value I_th (S101: NO), the processing proceeds to S103.When it is determined that the second current estimated value Iu_f2 corresponding to the U phase is larger than the positive-side stock-out determination threshold I_th (S101: YES), the processing proceeds to S102.

[0141] In S102, a positive-side disturbance counter associated with the U-phase is incremented. The positive-side disturbance counter is then Fig. 7 is marked with “+ counter”.

[0142] In S103, it is determined whether the second current estimation value Iv_f2 corresponding to the V phase is greater than the positive-side stock-out determination threshold value I_th.

[0143] If it is determined that the second current estimated value Iv_f2 associated with the V phase is not greater than the positive-side stock-out determination threshold I_th (S103: NO), the processing proceeds to S105. If it is determined that the second current estimated value Iv_f2 associated with the V phase is greater than the positive-side stock-out determination threshold I_th (S103: YES), the processing proceeds to S104.

[0144] In S104, a positive-side disturbance counter associated with the V phase is incremented.

[0145] In S105, it is determined whether the second current estimated value Iw_f2 associated with the W phase is greater than the positive-side stock-out determination threshold I_th. If it is determined that the second current estimated value Iw_f2 associated with the W phase is not greater than the positive-side stock-out determination threshold I_th (S105: NO), the processing proceeds to S107. If it is determined that the second current estimated value Iw_f2 associated with the W phase is greater than the positive-side stock-out determination threshold I_th (S105: YES), the processing proceeds to S106.

[0146] In S106, a positive-side disturbance counter associated with the W phase is incremented.

[0147] In S107, it is determined whether the second current estimated value Iu_f2 associated with the U phase is less than a negative-side stock-out determination threshold -I_th or not. If it is determined that the second current estimated value Iu_f2 associated with the U phase is not less than the negative-side stock-out determination threshold -I_th (S107: NO), the processing proceeds to S109. If it is determined that the second current estimated value Iu_f2 associated with the U phase is less than the negative-side stock-out determination threshold -I_th (S107: YES), the processing proceeds to S108.

[0148] In S108, a negative-side disturbance counter associated with the U-phase is incremented. The negative-side disturbance counter is then Fig. 7 is marked with “- counter”.

[0149] In S109, it is determined whether the second current estimated value Iv_f2 associated with the V phase is smaller than the negative-side stock-out determination threshold -I_th. If it is determined that the second current estimated value Iv_f2 associated with the V phase is not smaller than the negative-side stock-out determination threshold -I_th (S109: NO), the processing proceeds to S111. If it is determined that the second current estimated value Iv_f2 associated with the V phase is smaller than the negative-side stock-out determination threshold -I_th (S109: YES), the processing proceeds to S110.

[0150] In S110, a negative-side disturbance counter associated with the V phase is incremented.

[0151] In S111, it is determined whether the second current estimated value Iw_f2 associated with the W phase is less than the negative-side stock-out determination threshold -I_th. If it is determined that the second current estimated value Iw_f2 associated with the W phase is not less than the negative-side stock-out determination threshold -I_th (S111: NO), the processing proceeds to S113. If it is determined that the second current estimated value Iw_f2 associated with the W phase is less than the negative-side stock-out determination threshold -I_th (S111: YES), the processing proceeds to S112.

[0152] In S112, a negative-side disturbance counter associated with the W phase is incremented.

[0153] In S113, it is determined whether a count value of the positive-side disturbance counter associated with the U phase is greater than a determination value B. If it is determined that the count value of the positive-side disturbance counter associated with the U phase is not greater than the determination value B (S113: NO), the processing proceeds to S115. If it is determined that the count value of the positive-side disturbance counter associated with the U phase is greater than the determination value B (S113: YES), the processing proceeds to S114.

[0154] In S114, it is determined that the abnormality of the U2 coil 121 and the second upper-side bus 228, which have entered a largely conductive state, has occurred, and a U+ fault flag FlgU+ is activated.

[0155] In S115, it is determined whether a count value of the positive-side disturbance counter associated with the V phase is greater than the determination value B. If it is determined that the count value of the positive-side disturbance counter associated with the V phase is not greater than the determination value B (S115: NO), processing proceeds to S117. If it is determined that the count value of the positive-side disturbance counter associated with the V phase is greater than the determination value B (S115: YES), processing proceeds to S116.

[0156] In S116, it is determined that the abnormality of the V2 coil 122 and the second upper-side bus 228, which have entered a largely conductive state, has occurred, and a V+ fault flag FlgV+ is activated.

[0157] In S117, it is determined whether a count value of the positive-side disturbance counter associated with the W phase is greater than the determination value B. If it is determined that the count value of the positive-side disturbance counter associated with the W phase is not greater than the determination value B (S117: NO), the processing proceeds to S119. If it is determined that the count value of the positive-side disturbance counter associated with the W phase is greater than the determination value B (S117: YES), the processing proceeds to S118.

[0158] In S118, it is determined that the abnormality of the W2 coil 123 and the second upper-side bus 228, which have entered the largely conductive state, has occurred, and a W+ fault flag FlgW+ is activated.

[0159] In S119, it is determined whether a count value of the negative-side disturbance counter associated with the U phase is greater than the determination value B. If it is determined that the count value of the negative-side disturbance counter associated with the U phase is not greater than the determination value B (S119: NO), processing proceeds to S121. If it is determined that the count value of the negative-side disturbance counter associated with the U phase is greater than the determination value B (S119: YES), processing proceeds to S120.

[0160] In S120, it is determined that the abnormality of the U2 coil 121 and the second lower-side bus 229, which have entered the largely conductive state, has occurred, and a U- fault flag FlgU- is activated.

[0161] In S121, it is determined whether a count value of the negative-side disturbance counter associated with the V phase is greater than the determination value B. If it is determined that the count value of the negative-side disturbance counter associated with the V phase is not greater than the determination value B (S121: NO), processing proceeds to S123. If it is determined that the count value of the negative-side disturbance counter associated with the V phase is greater than the determination value B (S121: YES), processing proceeds to S122.

[0162] In S122, it is determined that the abnormality of the V2 coil 122 and the second lower-side bus 229, which have entered the largely conductive state, has occurred, and a V--fault flag FlgV- is activated.

[0163] In S123, it is determined whether a count value of the negative-side disturbance counter associated with the W phase is greater than the determination value B. If it is determined that the count value of the negative-side disturbance counter associated with the W phase is not greater than the determination value B (S123: NO), the processing is terminated. If it is determined that the count value of the negative-side disturbance counter associated with the W phase is greater than the determination value B (S123: YES), the processing proceeds to S124.

[0164] In S124, it is determined that the abnormality of the W2 coil 123 and the second lower-side bus 229, which have entered the largely conductive state, has occurred, and a W--fault flag FlgW- is activated.

[0165] Thus, it is possible to correctly identify a failure phase as a phase in which a short-circuit fault has occurred based on the second current estimation values ​​Iu_f2, Iv_f2, Iw_f2. The fault flags FlgU+, FlgV+, FlgW+, FlgU-, FlgV-, FlgW-, which are information items related to the specified failure phases, are output to the first current estimator 61.

[0166] In the first current estimator 61, the first current estimation values ​​Iu_f1, Iv_f1, Iw_f2 are calculated using the information about the failure phase specified based on FlgU+, FlgV+, FlgW+, FlgU-, FlgV-, FlgW- output from the failure phase detector 79.

[0167] It should be noted that if the occurrence of a short-circuit fault has been specified and all the fault flags FlgU+, FlgV+, FlgW+, FlgU-, FlgV-, FlgW- are deactivated, it can be concluded that this is a short-circuit fault caused by a signal abnormality, and that the SW elements 221 to 226 are operating normally. For example, by interrupting the overall control on the second system 102 side, the SW elements 221 to 226 can be deactivated. If the electrical connection between the coils 121 to 123 and the high-side bus 228 or the low-side bus 229 can be interrupted, no conduction to the failing system by a reverse voltage occurs. This prevents the normal system from being affected by the fault voltages Vu_g, Vv_g, and Vw_g. In this case, the torque correction value Iq_c and the disturbance voltage estimate values ​​Vu_g2, Vv_g2, Vw_g2 can be set to zero.In addition, the instruction calculation in the normal system can be performed by processing similar to that in normal time.

[0168] The control section 44 of the present embodiment includes the failure phase detector 79. The failure phase detector 79 accurately indicates a fault location in the faulty system based on the second current estimates Iu_f2, Iv_f2, Iw_f2.

[0169] Thus, it is possible to accurately specify the fault location on the basis of the second current estimates Iu_f2, Iv_f2, Iw_f2.

[0170] In addition, an effect similar to the above embodiments is exerted.

[0171] In the present embodiment, the instruction calculation section 56 corresponds to the "instruction calculation device," and the failure phase detector 79 corresponds to the "fault location specifying device." The other elements are similar to those in the above embodiments. (Fifth embodiment)

[0172] A fifth embodiment of the present disclosure will be described with reference to Fig. 8 described.

[0173] As in Fig. 8, a control section 45 includes a command calculation section 57, the first current estimator 61, the torque calculation unit 63, the second noise voltage estimator 72, the bandpass filter 74, the second current estimator 76, a two-phase to three-phase conversion section 78, and the failure phase detector 79.

[0174] The instruction calculation section 57 includes the three-phase to two-phase conversion section 510, the torque correction section 511, the subtractors 512, 513, the controllers 514, 515, the dq interaction-free voltage calculation sections 516, 517, the interaction-free voltage correction sections 518, 519, the disturbance voltage correction sections 551, 552, and the two-phase to three-phase conversion section 553.

[0175] In the present embodiment, similar to the third embodiment, the second noise voltage estimates Vd_g2, Vq_g2 are added to the voltage command values ​​Vd*, Vq* in the noise voltage correction sections 551, 552 to calculate corrected voltage command values ​​Vd**, Vq**. Furthermore, in the two-phase to three-phase conversion section 553, a reverse dq conversion is performed on the corrected voltage command values ​​Vd**, Vq** to calculate the voltage command values ​​Vu*, Vv*, Vw*. Except in this respect, the command calculation section 57 of the present embodiment is the same as the command calculation section 51 of the first embodiment.

[0176] The two-phase-to-three-phase conversion section 78 performs a reverse dq conversion on the second dq-axis current estimates Id_f2, Iq_f2 calculated in the second current estimator 76 to calculate the three-phase second current estimates Iu_f2, Iv_f2, Iw_f2. The calculated second current estimates Iu_f2, Iv_f2, Iw_f2 are output to the phase failure detector 79.

[0177] In the failure phase detector 79, similarly to the fourth embodiment, an accurate location where the short-circuit fault occurred is indicated based on the second current estimation values ​​Iu_f2, Iv_f2, Iw_f2.

[0178] Even with such a configuration, an effect similar to that of the above embodiments can be achieved.

[0179] In the present embodiment, the instruction calculation section 57 corresponds to the "instruction calculation device." The others are similar to those of the above embodiments. (Sixth Embodiment)

[0180] A sixth embodiment of the present disclosure will be described with reference to Fig. 9A and Fig. 9B. In Fig. 9A and Fig. 9B, descriptions other than those for the second winding group 12, the second inverter section 22, the battery 30, and the second power supply relay 32 are omitted. In addition, in Fig. 9A also omitted a description of the second power supply relay 32. Furthermore, Fig. 9A and Fig. 9B Examples in which a short-circuit failure has occurred in the low-potential side SW element 226 associated with the W phase is indicated by dotted lines, and SW elements to be turned on are indicated by solid lines, while SW elements to be turned off are indicated by dotted lines.

[0181] In this embodiment, the control of the faulty system will be described. The following is a description using as an example a case where the control configuration of the normal system is similar to that of the first embodiment, but any of the control configurations of the second to fifth embodiments may be applied.

[0182] As in Fig. 9A and Fig. As shown in Fig. 9B, when an SW element 226 in the second inverter section 22 is in a short-circuit state in the faulty system, the motor 10 is driven using the first system 101 to allow the faulty system currents Iu_f, Iv_f, Iw_f to flow, thereby allowing a pulsating current to flow in a main electrical period.

[0183] Estimating a noise voltage associated with the pulsating current requires that the response of the noise voltage estimator 62 with respect to the pulsating current be fast enough. However, the response of the noise voltage estimator 62 has limitations in terms of a control period and noise levels of the current detection sections 26, 27, the rotation angle sensor 29, and the like. Therefore, in the present embodiment, the SW elements 221 to 226 of the second inverter section 22 in the second system 102, which is the noisy system, are controlled to lower a frequency of the pulsating current.

[0184] As in Fig. As shown in Figure 9A, the all-phase SW elements 224 to 226 connected to the same potential as the SW element 226 experiencing a short-circuit fault are turned on. It should also be noted that when the SW element experiencing a short-circuit fault is a high-potential side element, the high-potential side all-phase SW elements 221 to 223 are turned on.

[0185] When the all-phase SW elements 224 to 226 connected to the same potential side as the SW element 226 experiencing the short-circuit fault are to be turned on, it is desirable that a signal for turning on the low-potential side all-phase SW elements 224, 225, 226 be output from the control section 41. Furthermore, even if the short-circuit fault that has occurred is a short-circuit fault of the SW element 226 itself and it has entered an on-state without the signal for turning on the SW element 226, a signal for turning on the SW elements 224, 225 of the two remaining phases can be output.The output of the signal to turn on the remaining two phases shall be included in the concept where “the signal generating device generates a control signal to turn on all the high-potential side switching elements in the faulty system when a short-circuit fault has occurred in which the high-side bus and any phase of the winding group enter the conductive state” or in the concept where “the signal generating device generates a control signal to turn on all the low-potential side switching elements in the faulty system when a short-circuit fault has occurred in which the low-side bus and any phase of the winding group enter the conductive state”.

[0186] This allows essentially sinusoidal currents to flow in the three phases of the noisy system, making the d-axis current and the q-axis current essentially uniform. This means that current pulsation is reduced.

[0187] In addition, as in Fig. 9B, the all-phase SW elements 221 to 223 connected to a different potential than the SW element 226 experiencing a short-circuit fault are turned on. Note that when the SW element experiencing a short-circuit fault is a high-potential side element, the low-potential side all-phase SW elements 224 to 226 are turned on.

[0188] In this case, since the upper and lower SW elements of the phase in which the short-circuit fault occurred are switched on, the second power supply relay 32 must be opened. It should be noted that if the all-phase SW elements are switched on on the same potential side as in Fig. 9A, the second power supply relay 32 can be in either an open or closed state.

[0189] By switching on the all-phase SW elements 221 to 223, which are connected to a different potential than the SW element 226 having the short-circuit fault, the resistance of each of the three phases becomes equal to enable a further reduction of the current pulsation.

[0190] As with reference to Fig. 9A and Fig. As described in FIG. 9B, when turn-on control is performed on all phases of the same potential as the SW element experiencing a short-circuit fault, or when turn-on control is performed on all phases of a different potential therefrom, the noise voltages Vu_g, Vv_g, Vw_g increase overall, but fluctuations in the noise voltages Vu_g, Vv_g, Vw_g decrease compared to the case where all SW elements in the faulty system are turned off. In the present embodiment, since the control for compensating the noise voltages Vu_g, Vv_g, Vw_g is performed in the normal system, the controllability is improved by reducing the fluctuations in the noise voltages Vu_g, Vv_g, Vw_g.

[0191] In the present embodiment, when a short-circuit fault has occurred in which the second upper-side bus 228 and the second winding group 12 come into the conductive state, the signal generating section 48 (see Fig. 2) a control signal for turning on all high-potential side SW elements 221 to 223 of the second inverter section 22, which is the inverter section in the faulty system.

[0192] In addition, when a short-circuit fault has occurred in which the second low-side bus 229 and the second winding group 12 become conductive, the signal generating section 48 generates a control signal to turn on all the low-side SW elements 224 to 226 of the second inverter section 22, which is the inverter section in the faulty system.

[0193] This enables a reduction of the pulsation of the failure system currents Iu_f, Iv_f, Iw_f.

[0194] The rotating electrical machine control device 1 includes the power supply relays 31, 32 provided between the inverter sections 21, 22 and the battery 30, and whose opening and closing operations are controlled by the control section 41.

[0195] When a short-circuit fault has occurred in which the second high-side bus 228 and the second winding group 12 enter the conductive state, the signal generating section 48 turns on all the low-side SW elements 214 to 216 of the second inverter section 22, which is the inverter section in the faulty system.

[0196] Furthermore, when a short-circuit fault has occurred in which the second lower-side bus 229 and the second winding group 12 enter the conductive state, the signal generating section 48 turns on all the high-potential side SW elements 211 to 213 of the second inverter section 22, which is the inverter section in the faulty system.

[0197] In addition, the control section 41 opens the second power supply relay 32 located in the faulty system.

[0198] This enables a further reduction of the pulsation of the failure system currents Iu_f, Iv_f, Iw_f. (Other embodiments)(i) Noise voltage estimate, current estimate

[0199] In the above embodiments, the current estimate related to the current flowing in the noisy system and estimated by the circuit equations based on the rotational angular velocity is used as the "first current estimate," and the noise voltage estimated based on the first current estimate is used as the "first noise voltage." Furthermore, the noise voltage estimated by the voltage equations based on the current detection value and the voltage command value in the normal system is used as the "second noise voltage estimate," and the current estimate related to the current flowing in the noisy system and estimated based on the second noise voltage estimate is used as the "second current estimate."In addition, although the first current estimate and the second current estimate are obtained by estimating similar failure system currents, the first current estimate and the second current estimate are distinguished by being referred to as "first" and "second," respectively, due to differences in the calculation method. This also applies to the disturbance voltage estimates.

[0200] In another embodiment, the method for estimating the failure system current and the disturbance voltage is not limited to the calculation described in the above embodiments, but any estimation method may be used. (ii) Instruction calculation device

[0201] In the second embodiment and the like, the current command value is corrected in the current command value correction section based on the second current estimated value, and the voltage command value is corrected in the noise voltage correction section based on the second noise voltage estimated value. In another embodiment, the voltage command value correction section or the noise voltage correction section may be omitted.

[0202] In addition, the statement that "the command calculation device corrects the current command value based on the current estimate (calculated based on the noise voltage estimate)" is included in the concept that "the command calculation device calculates the normal system command value related to the control of the line to the normal system in accordance with the noise voltage estimate." Furthermore, the statement that "the command calculation device corrects the current command value based on the current estimate" can also be understood to mean that the torque of the noise-affected system is compensated in the normal system.

[0203] Of course, the statement that “the instruction calculation device corrects the voltage instruction value based on the noise voltage estimation value” is also included in the concept that “the instruction calculation device calculates the normal system instruction value with respect to the line to the normal system according to the noise voltage”. (iii) Current sensing element

[0204] In the above embodiments, the current detection element is a shunt resistor and is arranged on the low-potential side of the low-potential-side SW element. In another embodiment, the current detection element is not limited to a shunt resistor but may be, for example, a Hall IC or the like. Furthermore, in another embodiment, the current detection element may be provided at a location other than the low-potential side of the low-potential-side SW element, such as the high-potential side of the high-potential-side SW element, or at a location between the winding group and the inverter section. (iv) Rotating electrical machine

[0205] In the above embodiments, two winding groups are provided, and two inverter sections and the like are provided corresponding to the winding groups. In another embodiment, the number of winding groups may be three or more.

[0206] In the above embodiments, the first winding group and the second winding group are arranged so that each of their phases is offset by 30 degrees. In another embodiment, the winding groups can be arranged in any desired manner. Even if the windings are arranged differently, it is possible to estimate the noise voltage and the failure system current through a similar calculation, although mutual inductance between the systems will manifest itself differently.

[0207] In the above embodiments, the rotating electrical machine is a three-phase brushless motor. In another embodiment, the number of phases of the rotating electrical machine is not limited to three, but may be four or more. Furthermore, it is not limited to a brushless motor, but may be any motor. Furthermore, the rotating electrical machine is not limited to a motor, but may be a generator or a so-called motor-generator, which has combined functions of a motor and generator.

[0208] In the above embodiments, the rotating electric machine is applied to an electric power steering device. In another embodiment, the rotating electric machine control device may be applied to a device other than an electric power steering device.

[0209] It should be noted that a flowchart or the processing of the flowchart in the present application includes sections (also referred to as steps), each of which is illustrated individually, for example, as S101. Furthermore, each section may be divided into several subsections, while some sections may be combined into a single section. Furthermore, each of the sections so configured may also be referred to as a device, module, or means.

[0210] While the present disclosure has been described with reference to the embodiments thereof, it should be understood that the disclosure is not limited to the embodiments and constructions. The present disclosure is intended to cover various modifications and equivalent arrangements. In addition, in addition to the various combinations and configurations, other combinations and configurations including more elements, fewer elements, or even a single element are within the spirit and scope of the present disclosure.

Claims

[1] Control device for a rotating electrical machine for controlling a drive of a rotating electrical machine (10) having a plurality of winding groups (11, 12) which are magnetically coupled to one another, the control device for the rotating electrical machine comprising: an inverter (21, 22) arranged in each of the winding groups and having a high-potential-side switching element (211 to 213, 221 to 223) corresponding to each phase of a respective winding group, and a low-potential-side switching element (214 to 216, 224 to 226) connected to a low-potential side of the high-potential-side switching element; and a controller (41 to 45) controlling the inverter in each of the winding groups, wherein: each of the winding groups and the inverter corresponding to a respective winding group constitute a system; where the control has: a signal generator (48) that generates a control signal for controlling the on and off operation of each of the high-potential side switching elements and the low-potential side switching elements; a noise voltage estimator (62, 71, 72) that calculates a noise voltage estimate obtained by estimating a noise voltage generated in a normal system in which no short-circuit noise occurs by a current flowing in a noisy system when a short-circuit noise occurs in the noisy system; and an instruction calculation device (51, 53, 55, 56, 57) which calculates a normal system instruction value related to the control of the energization of the normal system according to the disturbance voltage estimation value; a top-side bus (218, 228) connecting high-potential sides of the high-potential side switching elements in each of the winding groups; a low-side bus (219, 229) connecting low-potential sides of the low-potential side switching elements in each of the winding groups; and the short-circuit fault is defined as a fault in which the high-side bus or the low-side bus is electrically connected to one phase of a respective winding group. [2] A control device for a rotating electrical machine according to claim 1, wherein: a voltage command value is calculated based on a current command value of the rotating electrical machine and a current detection value of each phase in the normal system; and the voltage command value is corrected using the disturbance voltage estimate to calculate the normal system command value. [3] A control device for a rotating electrical machine according to claim 1 or 2, wherein: the disturbance voltage estimate is calculated based on a rotational angular velocity of the rotating electrical machine. [4] A control device for a rotating electrical machine according to claim 1 or 2, wherein: the disturbance voltage estimate is calculated based on the current detection value of each phase in the normal system and based on a voltage command value; and the voltage command value is calculated based on the current command value of the rotating electrical machine and the current detection value. [5] A control device for a rotating electrical machine according to claim 4, wherein: the controller comprises a current estimator (75, 76) for calculating a current estimate obtained by estimating a failure system current flowing in the faulty system based on the disturbance voltage estimate. [6] A control device for a rotating electrical machine according to claim 5, wherein: the instruction calculation device calculates the normal system instruction value based on a corrected current instruction value obtained by correcting the current instruction value using the current estimated value. [7] A control device for a rotating electrical machine according to claim 5 or 6, wherein: the controller further comprises a fault location specifying device (79) for accurately specifying a fault location in the faulty system based on the current estimate. [8] A control device for a rotating electrical machine according to any one of claims 1 to 7, wherein: the signal generating device generates the control signal for turning off all high-potential-side switching elements and low-potential-side switching elements of the inverter in the faulty system when the short-circuit fault occurs. [9] A control device for a rotating electrical machine according to any one of claims 1 to 7, wherein: the signal generating device generates the control signal for switching on all high-potential-side switching elements in the faulty system when a short-circuit fault occurs in which the high-side bus is electrically connected to a phase of a respective winding group; and the signal generating device generates the control signal for switching on all low-potential-side switching elements in the faulty system when a short-circuit fault occurs in which the low-side bus is electrically connected to a phase of a respective winding group. [10] A control device for a rotating electrical machine according to any one of claims 1 to 7, further comprising: a power supply relay (31, 32) arranged between the inverter and a battery (30) and controlled by the controller to open and close, wherein: the signal generating device generates the control signal for turning on all low-side switching elements in the faulty system when a short-circuit fault occurs in which the high-side bus is electrically connected to a phase of a respective winding group; the signal generating device generates the control signal for turning on all high-potential-side switching elements in the faulty system when a short-circuit fault occurs in which the lower-side bus is electrically connected to one phase of a respective winding group; and the controller controls the power supply relay in the faulty system so that it opens.

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