Rotary electric machine control device

Abstract

To provide a rotary electric machine control device capable of suppressing overcurrent.SOLUTION: An ECU 10 is configured to control driving of a motor 80 including a plurality of pairs of motor coils 180 and 280 and comprises a plurality of control sections 151 and 251. Each of the control sections 151 and 251 includes an electrification control section which calculates a command value of a voltage to be applied to the motor coils 180 and 280 on the basis of a current detection value and a current command value and controls electrification of the motor coils 180 and 280 on the basis of the voltage command value, and is provided for each of the motor coils 180 and 280 and communicable with each other. The ECU 10 is capable of implementing cooperative driving control in which the electrification control is performed by sharing at least one parameter between systems. The second control section 251 performs the electrification control of the motor coil using the current command value which is transmitted from the first control section 151. The first control section 151 performs the electrification control of the motor coil using the same current command value as that transmitted to the second control section 251.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a rotating electrical machine control device. [Background technology]

[0002] Conventionally, there is known a rotating electric machine control device that controls the driving of a rotating electric machine by coordinating a plurality of systems. For example, in Patent Document 1, the current supply to the first system and the second system is controlled based on a command value calculated by a first control unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-130007 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the second control unit performs calculations using command values ​​sent by communication from the first control unit, if the command calculation does not keep up with the communication timing due to an increase in the calculation load on the first control unit, for example, and control is performed using different command values ​​in the first control unit and the second control unit, there is a risk that the voltage command value will increase and an overcurrent will occur.

[0005] In addition, in the case of controlling the current sum and current difference of multiple systems in the cooperative drive control, if the current command values ​​differ between the systems, the control amount increases. In addition, if the balance of the control amounts of the current sum and current difference is lost in this state, there is a risk of an overcurrent occurring.

[0006] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide a rotating electrical machine control device capable of suppressing overcurrent. [Means for solving the problem]

[0007] The rotating electric machine control device of the present invention controls the driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), and includes an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current flowing through the motor windings, and controls energization of the motor windings based on the voltage command value, and includes a plurality of control units (151, 251) provided for each motor winding and capable of communicating with each other. The rotating electric machine control device is capable of implementing cooperative drive control in which a combination of a motor winding and a corresponding control unit is treated as a system, and energization control is performed by sharing at least one parameter between the systems.

[0008] In one aspect, when one control unit (151) is a main control unit and the other control unit (251) is a sub-control unit, the sub-control unit controls the current supply to the motor windings using a current command value transmitted from the main control unit, and the main control unit controls the current supply to the motor windings using the same current command value transmitted to the sub-control unit.

[0009] In another aspect, the current control unit restricts upper and lower limits of a feedback control amount of the sum, which is a feedback calculation result based on the current sum, and a feedback control amount of the difference, which is a feedback calculation result based on the current difference, in current feedback control using a current sum and a current difference between a current detection value of the own system and a current detection value of the other system, thereby making it possible to prevent an overcurrent. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic configuration diagram of an electric power steering device according to a first embodiment. [Diagram 2] FIG. 2 is a cross-sectional view of the drive device according to the first embodiment. [Diagram 3] FIG. 3 is a cross-sectional view taken along line III-III in FIG. [Figure 4] FIG. 2 is a block diagram showing the configuration of an ECU according to the first embodiment. [Diagram 5] FIG. 4 is a block diagram showing a current control unit of the first control unit according to the first embodiment. [Figure 6] 4 is a block diagram showing a current control unit of a first control unit and a second control unit according to the first embodiment. FIG. [Figure 7] 5 is a time chart illustrating a current control process according to a reference example. [Figure 8] 4 is a time chart illustrating a current control process according to the first embodiment. [Figure 9] 4 is a flowchart illustrating a current control process according to the first embodiment. [Figure 10] 10 is a flowchart illustrating a current control process according to a second embodiment. [Figure 11] 10 is a time chart illustrating a current control process according to a second embodiment. [Figure 12] 10 is a time chart illustrating a current control process according to a second embodiment. [Figure 13] 10 is a time chart illustrating a current control process according to a second embodiment. [Figure 14] 13 is a flowchart illustrating a set constant transmission process according to the third embodiment. [Figure 15] 4 is a time chart showing a current detection value and a current command value. [Figure 16] 6 is a time chart showing the FB control amount of the first control unit when the current command value is different. [Figure 17] 6 is a time chart showing the FB control amount of the second control unit when the current command value is different. [Figure 18] 11 is a time chart showing a voltage command value when the limit values ​​of a sum FB control amount and a difference FB control amount are different. [Figure 19] 11 is a time chart showing a current when the limit values ​​of a sum FB control amount and a difference FB control amount are different. [Figure 20] 13 is a flowchart illustrating a feedback control amount limiting process according to a fourth embodiment. [Figure 21] 13 is a time chart showing an FB control amount and a voltage command value according to a fourth embodiment. [Figure 22] 13 is a time chart showing an FB control amount according to a fourth embodiment. [Diagram 23] 13 is a time chart showing an FB control amount according to a fourth embodiment. [Figure 24] 13 is a flowchart illustrating an abnormality determination process according to a fifth embodiment. [Diagram 25] 13 is a time chart illustrating a transition to an abnormality treatment procedure according to the fifth embodiment. [Figure 26] 13 is a flowchart illustrating an abnormality determination process according to a sixth embodiment. [Figure 27] 23 is a flowchart illustrating a command value comparison process in a first control unit according to the seventh embodiment. [Figure 28] 13 is a flowchart illustrating a command value comparison process in a second control unit according to the seventh embodiment. [Figure 29] 23 is a time chart illustrating a command value comparison process according to the seventh embodiment. [Diagram 30] 23 is a time chart illustrating a command value comparison process according to the seventh embodiment. [Diagram 31] 13 is a flowchart illustrating a command value comparison process in a first control unit according to an eighth embodiment. [Diagram 32] 13 is a flowchart illustrating a command value comparison process in a second control unit according to the eighth embodiment. [Diagram 33] 13 is a time chart illustrating a command value comparison process according to the eighth embodiment. [Diagram 34] 13 is a flowchart illustrating a command value comparison process in a first control unit according to a ninth embodiment. [Diagram 35] 13 is a flowchart illustrating a command value comparison process in a second control unit according to the ninth embodiment. [Diagram 36] 13 is a time chart illustrating a command value comparison process according to the ninth embodiment. [Figure 37] 23 is a flowchart illustrating a set constant comparison process in a first control unit according to a tenth embodiment. [Figure 38] 23 is a flowchart illustrating a set constant comparison process in a first control unit according to a tenth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A rotary electric machine control device according to the present invention will be described below with reference to the drawings. In the following, in a plurality of embodiments, substantially the same components are designated by the same reference numerals, and description thereof will be omitted.

[0012] (First embodiment) As shown in FIG. 1, an ECU 10 as a rotating electric machine control device is applied to, for example, an electric power steering device 8 for assisting the steering operation of a vehicle together with a motor 80 as a rotating electric machine.

[0013] 1 shows the overall configuration of a steering system 90 including an electric power steering device 8. The steering system 90 includes a steering wheel 91, which is a steering member, a steering shaft 92, a pinion gear 96, a rack shaft 97, wheels 98, the electric power steering device 8, and the like.

[0014] The steering wheel 91 is connected to a steering shaft 92. A torque sensor 94 that detects steering torque is provided on the steering shaft 92. The torque sensor 94 has a first torque detection unit 194 and a second torque detection unit 294, and the sensors are duplicated so that each can detect its own failure. A pinion gear 96 is provided at the tip of the steering shaft 92. The pinion gear 96 meshes with a rack shaft 97. A pair of wheels 98 are connected to both ends of the rack shaft 97 via tie rods or the like.

[0015] When a driver turns a steering wheel 91, a steering shaft 92 connected to the steering wheel 91 rotates. The rotational motion of the steering shaft 92 is converted into linear motion of a rack shaft 97 by a pinion gear 96. A pair of wheels 98 are steered to an angle according to the amount of displacement of the rack shaft 97.

[0016] As shown in FIG. 1 and FIG. 2, the electric power steering device 8 includes a drive device 1, and a reduction gear 89 serving as a power transmission unit. The drive device 1 includes a motor 80 and an ECU 10. The drive device 1 is a so-called "mechatronically integrated type" in which the ECU 10 is integrally provided on one side in the axial direction of the motor 80, but the motor 80 and the ECU 10 may be provided separately. The ECU 10 is disposed coaxially with the axis Ax of the shaft 870 on the opposite side to the output shaft of the motor 80. The ECU 10 may be disposed on the output shaft side of the motor 80. By adopting a mechatronically integrated type, the ECU 10 and the motor 80 can be efficiently disposed in a vehicle with limited mounting space.

[0017] The reduction gear 89 reduces the speed of the rotation of the motor 80 and transmits it to a steering shaft 92, which is a driven object. That is, the electric power steering device 8 of this embodiment is a so-called "column assist type", but it may be a so-called "rack assist type" in which the rotation of the motor 80 is transmitted to a rack shaft 97, or the like.

[0018] 2 and 3, motor 80 outputs a part or all of the torque required for steering, and has two sets of motor windings 180, 280. Motor 80 is supplied with power from batteries 191, 291 (see FIG. 4) serving as power sources, and is driven by controlling the energization of motor windings 180, 280 to rotate reduction gear 89 forward and reverse. Motor 80 is a three-phase brushless motor, and includes a stator 840, a rotor 860, and a housing 830 that accommodates these.

[0019] Hereinafter, the combination of the components related to the energization control of the first motor winding 180 is referred to as the first system L1, and the combination of the components related to the energization control of the second motor winding 280 is referred to as the second system L2. The components related to the first system L1 are mainly numbered in the 100s, and the components related to the second system L2 are mainly numbered in the 200s. The components related to the first control unit 151 of the first system L1 are mainly numbered in the 500s, and the components related to the second control unit 251 of the second system L2 are mainly numbered in the 600s. In the first system L1 and the second system L2, the same or similar components are numbered so that the last two digits are the same, and the explanation is omitted as appropriate. Hereinafter, the values ​​related to the first system L1 are appropriately described with the suffix "1" and the values ​​related to the second system L2 are appropriately described with the suffix "2".

[0020] The housing 830 has a cylindrical case 834 with a bottom including a rear end frame 837, and a front end frame 838 provided on the opening side of the case 834. The case 834 and the front end frame 838 are fastened to each other by bolts or the like. A lead wire insertion hole 839 is formed in the rear end frame 837.

[0021] The stator 840 is fixed to the housing 830, and the motor windings 180, 280 are wound around the stator 840. The lead wires 185, 285 connected to the respective phases of the motor windings 180, 280 are inserted through the lead wire insertion holes 839, taken out to the ECU 10 side, and connected to the board 20.

[0022] The rotor 860 is provided radially inside the stator 840. A magnet is provided radially outside the stator 840, and is provided rotatable relative to the stator 840.

[0023] Shaft 870 is fitted into rotor 860 and rotates integrally with rotor 860. Shaft 870 is rotatably supported in housing 830 by bearings 835 and 836. An end of shaft 870 on the ECU 10 side protrudes from housing 830 towards the ECU 10. A magnet 875 is provided on the end of shaft 870 on the ECU 10 side.

[0024] The ECU 10 includes a cover 11, a heat sink 15 fixed to the cover 11, a board 20 fixed to the heat sink 15, various electronic components mounted on the board 20, and the like.

[0025] The cover 11 protects electronic components from external impacts and prevents intrusion of dust, water, and the like into the inside of the ECU 10. The cover 11 has a cover body 12 and a connector section 13 integrally formed therewith. The connector section 13 may be separate from the cover body 12. The connector section 13 includes power connectors 111, 211, vehicle communication connectors 112, 212, and torque connectors 113, 213, which will be described later. The connector terminals 14 are connected to the board 20. In this embodiment, the connector section 13 is provided for each system, has two openings, and opens on the side opposite to the motor 80. The number and orientation of the openings, the number of terminals, and the like can be changed as appropriate.

[0026] The board 20 is, for example, a printed circuit board, and is provided opposite the rear frame end 837. Two systems of electronic components are mounted on the board 20, with each system being mounted in a separate area. In this embodiment, the electronic components are mounted on one board 20, but the electronic components may be mounted separately on a plurality of boards. The board 20 may also be fixed to the motor 80 side (for example, the rear frame end 837).

[0027] Of the two main surfaces of the substrate 20, the surface on the motor 80 side is referred to as the motor surface 21, and the surface opposite the motor 80 is referred to as the cover surface 22. As shown in Fig. 3, the motor surface 21 is mounted with a switching element 121 constituting the inverter circuit 120, a switching element 221 constituting the inverter circuit 220, rotation angle detection units 126, 226, custom ICs 135, 235, etc. The rotation angle detection units 126, 226 are mounted at locations facing the magnet 875 so as to be able to detect changes in the magnetic field accompanying the rotation of the magnet 875.

[0028] The cover surface 22 is provided with the capacitors 128 and 228, the inductors 129 and 229, and the microcomputers constituting the control units 151 and 251. In FIG. 3, the microcomputers constituting the control units 151 and 251 are numbered as "151" and "251", respectively. The capacitors 128 and 228 smooth the power input from the batteries 191 and 291. The capacitors 128 and 228 also assist the power supply to the motor 80 by storing electric charge. The capacitors 128 and 228 and the inductors 129 and 229 form a filter circuit, which reduces noise transmitted from other devices sharing the batteries 191 and 291, and reduces noise transmitted from the drive device 1 to other devices sharing the batteries 191 and 291. Although not shown in FIG. 3, the power supply relay, the motor relay, the current detection units 127, 227, and the like are also mounted on the motor surface 21 or the cover surface 22.

[0029] As shown in FIG. 4, the ECU 10 includes inverter circuits 120 and 220, and control units 151 and 251. The ECU 10 includes power connectors 111 and 211, vehicle communication connectors 112 and 212, and torque connectors 113 and 213. The first power connector 111 is connected to a first battery 191, and the second power connector 211 is connected to a second battery 291. The power connectors 111 and 211 may be connected to the same battery. The first power connector 111 is connected to the first inverter circuit 120 via a first power supply circuit 116. The second power connector 211 is connected to the second inverter circuit 220 via a second power supply circuit 216. The power supply circuits 116 and 216 include, for example, a power supply relay or the like.

[0030] The vehicle communication connector 112 is connected to a vehicle communication network 195, and the vehicle communication connector 212 is connected to a vehicle communication network 295. The vehicle communication connectors 112, 212 are connected to separate vehicle communication networks 195, 295, respectively, but may be connected to the same vehicle communication network. In addition, in Fig. 4, a CAN (Controller Area Network) is illustrated as an example of the vehicle communication networks 195, 295, but any standard such as CAN-FD (CAN with Flexible Data rate) or FlexRay may be used. The control units 151, 251 transmit and receive various signals to and from the vehicle communication networks 195, 295 via the vehicle communication circuits 117, 217, respectively.

[0031] The torque connectors 113 and 213 are connected to the torque sensor 94. In particular, the first torque connector 113 is connected to the first torque detection unit 194. The second torque connector 213 is connected to the second torque detection unit 294.

[0032] The first control unit 151 can obtain a torque signal related to the steering torque Ts from the first torque detection unit 194 via the torque connector 113 and the torque sensor input circuit 118. The second control unit 251 can obtain a torque signal related to the steering torque Ts from the second torque detection unit 294 via the torque connector 213 and the torque sensor input circuit 218. This allows the control units 151 and 251 to calculate the steering torque Ts based on the torque signal.

[0033] The first inverter circuit 120 is a three-phase inverter having six switching elements 121, and converts the power supplied to the first motor winding 180. The on / off operation of the switching elements 121 is controlled based on a control signal output from the first control unit 151. The second inverter circuit 220 is a three-phase inverter having six switching elements 221, and converts the power supplied to the second motor winding 280. The on / off operation of the switching elements 221 is controlled based on a control signal output from the second control unit 251.

[0034] The first current detection unit 127 detects the current flowing through each phase of the first motor winding 180 and outputs the detection value to the first control unit 151. The second current detection unit 227 detects the current flowing through each phase of the second motor winding 280 and outputs the detection value to the second control unit 251. The first rotation angle detection unit 126 detects the rotation angle of the motor 80 and outputs the detection value to the first control unit 151. The second rotation angle detection unit 226 detects the rotation angle of the motor 80 and outputs the detection value to the second control unit 251.

[0035] The control units 151 and 251 are mainly composed of a microcomputer and include a CPU, a ROM, a RAM, an I / O, and a bus line connecting these components, none of which are shown in the figure. Each process in the control units 151 and 251 may be software processing performed by the CPU executing a program stored in advance in a substantial memory device such as a ROM (i.e., a readable non-transitory tangible recording medium), or may be hardware processing performed by a dedicated electronic circuit. The first control unit 151 and the second control unit 251 are provided so as to be able to communicate with each other. Hereinafter, communication between the control units 151 and 251 is referred to as "communication between microcomputers." Any communication method may be used, such as serial communication such as SPI or SENT, CAN communication, or FlexRay communication. The same applies to each control unit in the embodiments described below.

[0036] Current control of this embodiment is shown in Fig. 5 and Fig. 6. For simplification, some control lines and blocks are omitted in Fig. 5 and Fig. 6. Fig. 5 shows the first control unit 151, and the second control unit 251 is omitted. In Fig. 6, the transmitters 171, 271 and the receivers 172, 272 are appropriately separated for convenience of description. Hereinafter, in regard to the points that are similar when the value of the first system L1 is replaced with the value of the second system L2, the description of the second control unit 251 such as the d-axis current calculation is appropriately omitted, and the first control unit 151 is taken as an example.

[0037] In this embodiment, the first system L1 will be described as the main system, and the second system L2 as the sub system. Here, the terms "main" and "sub" are used for convenience in order to distinguish which command is to be used preferentially, but the outputs are the same. Hereinafter, the control in which the first system L1 is the main system and the second system L2 is the sub system and the first system L1 and the second system L2 are coordinated will be referred to as "cooperative drive control", the control in which the first system L1 and the second system L2 are driven by two systems without coordination will be referred to as "independent drive control", and the control in which either the first system L1 or the second system L2 is driven will be referred to as "single system drive control".

[0038] 5 and 6, the first control unit 151 has an energization control unit 500, an abnormality determination unit 560, a warning unit 565, a transmission unit 171, and a reception unit 172. The energization control unit 500 controls energization of the first motor winding 180, and includes an electrical angle calculation unit 506, a detected current calculation unit 507, a torque command calculation unit 511, a basic command calculation unit 512, a torque d-axis current command calculation unit 519, a field weakening calculation unit 521, a field weakening d-axis current command arbitration unit 522, a d-axis current command calculation unit 525, a q-axis current command calculation unit 526, a current control calculation unit 530, and a PWM output unit 555.

[0039] The second control unit 251 has an energization control unit 600, an abnormality determination unit 660, a warning unit 665, a transmission unit 271, and a reception unit 272, etc. The energization control unit 600 controls energization of the second motor winding 280, and includes an electrical angle calculation unit 606, a detected current calculation unit 607, a torque command calculation unit 611, a basic command calculation unit 612, a torque d-axis current command calculation unit 619, a field weakening calculation unit 621, a field weakening d-axis current command arbitration unit 622, a d-axis current command calculation unit 625, a q-axis current command calculation unit 626, a current control calculation unit 630, and a PWM output unit 655, etc.

[0040] The transmitting unit 171 stores values ​​calculated by the first control unit 151 and transmits the stored values ​​at the communication timing to the second control unit 251. The receiving unit 172 receives values ​​transmitted from the second control unit 251. The transmitting unit 271 stores values ​​calculated by the second control unit 251 and transmits the stored values ​​at the communication timing to the first control unit 151. The receiving unit 272 receives values ​​transmitted from the first control unit 151.

[0041] The electrical angle calculation unit 506 calculates an electrical angle θe1 ​​based on the detection value of the rotation angle detection unit 126. The detected current calculation unit 507 calculates the respective phase currents Iu1, Iv1, and Iw2 based on the detection value of the current detection unit 127. The detected current calculation unit 507 also performs dq conversion on the respective phase currents Iu1, Iv1, and Iw1 using the electrical angle θe1 ​​to calculate a d-axis current detection value Id1 and a q-axis current detection value Iq1. Hereinafter, when the d-axis and q-axis values ​​are collectively referred to as "dq axes", the dq-axis current detection values ​​Id1 and Iq1 are used for current control calculation in the own system, and are also transmitted to the second control unit 250 by inter-microcomputer communication and used for current control in other systems.

[0042] As shown in Fig. 5, the sum / difference calculation unit 508 acquires the d-axis current detection values ​​Id1 and Iq1 of the first system L1 and the d-axis current detection values ​​Id2 and Iq2 of the second system L2. The sum / difference calculation unit 508 calculates a d-axis current sum Id_a which is the sum of the d-axis current detection values ​​Id1 and Id2, a d-axis current difference Id_s which is the difference between the d-axis current detection values ​​Id1 and Id2, a q-axis current sum Iq_a which is the sum of the q-axis current detection values ​​Iq1 and Iq2, and a q-axis current difference Iq_s which is the difference between the q-axis current detection values ​​Iq1 and Iq2. The torque current calculation unit 509 calculates the torque current detection value I_trq1 based on the d-axis current sum Id_a and the q-axis current sum Iq_a. In this embodiment, the output torque of the motor 80 is monitored by monitoring the torque current detection value I_trq1.

[0043] As shown in FIG. 6, the torque command calculation unit 511 calculates a torque command value Trq1 based on the steering torque, the vehicle speed, etc. *The basic command calculation unit 512 has a torque current command calculation unit 513, a current limit calculation unit 515, a current limit arbitration unit 516, and a current limit unit 517, and calculates a basic current command value Ib1. * The basic command calculation unit 612 has a torque current command calculation unit 613, a switching unit 614, a current limit calculation unit 615, a current limit arbitration unit 616, and a current limit unit 617, and calculates a basic current command value Ib2 * Calculate the following.

[0044] The torque current command calculation units 513 and 613 calculate the torque command value Trq1 * , Trq2 * Based on this, for example, by multiplying it by a predetermined coefficient, the torque current command value Itrq1 * , Itrq2 * The first torque current command value Itrq1 is calculated. * is transmitted to the second control unit 251.

[0045] The switching unit 614 is a torque current command value Itrq1 used for control. * , Itrq2 * In this embodiment, the switching unit 614 is capable of switching the first torque current command value Itrq1 during the cooperative drive control. * When using independent drive control or single-system drive control in the second system L2, the second torque current command value Itrq2 * Select .

[0046] The current limit calculation unit 515 calculates a current limit value Ilim1 for overheat protection etc. The current limit value Ilim1 is transmitted to the second control unit 251. In addition, the first control unit 151 obtains the current limit value Ilim2 calculated by the second control unit 251.

[0047] The current limit arbitration unit 516 calculates an arbitrated current limit value Ilim_m1 based on the current limit value Ilim1 of the own system and the current limit value Ilim2 of the other system. In this embodiment, the smaller value of the current limit value Ilim1 of the own system or the current limit value Ilim2 of the other system is set as the arbitrated current limit value Ilim_m1 in minimum selection.

[0048] The current limiting unit 517 is a torque current command value Itrq1 * Based on the arbitration current limit value Ilim_m1, the smaller value is set as the basic current command value Ib1 * The current limiting unit 617 calculates the smaller value based on the torque current command value selected by the switching unit 614 and the arbitration current limiting value Ilim_m2 as the basic current command value Ib2. * Calculate the following.

[0049] The torque d-axis current command calculation unit 519 calculates the basic current command value Ib1 * Based on this, the torque d-axis current command value Id_t1 is calculated by map calculation, etc. * Calculate the following.

[0050] The field weakening calculation unit 521 calculates a pre-limitation field weakening d-axis current command value Id_wb1 based on the current limit value Ilim1, the saturation value for the maximum applied voltage, the modulation rate of the voltage command value, etc. * The field weakening calculation unit 521 also obtains the q-axis current sum Iq_a from the sum / difference calculation unit 508, and calculates the field weakening d-axis current limit value Id_lim_w1 based on the q-axis current sum Iq_a. * Based on the field weakening d-axis current limit value Id_lim_w1, the value with the smaller absolute value is set as the field weakening d-axis current command value Id_w1 * The field weakening d-axis current command value Id_w1 * is transmitted to the second control unit 251. In addition, the first control unit 151 transmits the field weakening d-axis current command value Id_w2 calculated by the second control unit 251. * Get the.

[0051] The field weakening d-axis current command arbitration unit 522 is a field weakening d-axis current command value Id_w1 * , and the field weakening d-axis current command value Id_w2 of the other system * Based on this, the post-arbitration field weakening d-axis current command value Id_wm1 * In this embodiment, the post-arbitration field weakening d-axis current command value Id_wm1 *It should be noted that if the d-axis current is a negative value, the minimum select selects the value with the larger absolute value. The same applies to the minimum selects for the other d-axis currents. For the sake of simplicity, FIG. 5 omits the illustration of the field weakening d-axis current command arbitration unit 522, and only the field weakening d-axis current command value Id_w1 * is input to the d-axis current command calculation unit 525.

[0052] The d-axis current command calculation unit 525 calculates the torque d-axis current command value Id_t1 * and the post-arbitration field weakening d-axis current command value Id_wm1 * Based on this, the d-axis current command value Id1 is selected by minimum selection. * The q-axis current command calculation unit 526 calculates the basic current command value Ib1 * and d-axis current command value Id1 * Based on this, for example, the q-axis current command value Iq1 * Calculate the following.

[0053] The current control calculation unit 530 calculates the current command value Id1 * , Iq1 * Based on the above, the current sum command value Id_a * , Iq_a * and the current difference command value Id_s * , Iq_s * 5, current control calculation unit 530 has subtractors 531-534, current feedback control units 541-544, a voltage command calculation unit 550, and the like.

[0054] The subtractor 531 calculates the d-axis current sum command value Id_a * The subtractor 532 subtracts the d-axis current sum Id_a from the q-axis current sum command value Iq_a to calculate the d-axis current sum deviation ΔId_a. * The subtractor 533 subtracts the q-axis current sum Iq_a from the d-axis current difference command value Id_s to calculate the q-axis current sum deviation ΔIq_a. * The subtractor 534 subtracts the d-axis current difference Id_s from the q-axis current difference command value Iq_s to calculate the d-axis current difference deviation ΔId_s. *The q-axis current difference Iq_s is subtracted from the above to calculate the q-axis current difference deviation ΔIq_s.

[0055] The current feedback control units 541 to 544 respectively calculate the sum FB control amounts FBd_a, FBq_a and the difference FB control amounts FBd_s, FBq_s by, for example, PI calculation or the like so that the d-axis current sum deviation ΔId_a, the q-axis current sum deviation ΔIq_a, the d-axis current difference deviation ΔId_s, and the q-axis current difference deviation ΔIq_s converge to 0. The voltage command calculation unit 550 calculates the voltage command value Vd1 based on the FB control amounts FBd_a, FBq_a, FBd_s, and FBq_s. * , Vq1 * , Vd2 * , Vq2 * That is, in the coordinated drive control of this embodiment, "sum and difference control" is performed to control the current sum and current difference of the two systems. This makes it possible to cancel the effect of mutual inductance.

[0056] The PWM output unit 555 outputs a voltage command value Vd1 * , Vq1 * The three-phase voltage command Vu1 is the inverse dq transformation of * , Vv1 * , Vw1 * The PWM signal is generated based on the above. The PWM signal is synchronized by, for example, a synchronization signal so that the signal timing is aligned between the systems. The synchronization signal may be transmitted from one system to the other system, or both systems may obtain the synchronization signal from an external source.

[0057] The abnormality determination unit 560 determines an abnormality in the current detection value, etc. When an abnormality is detected, an abnormality treatment is performed. When the warning unit 565 performs an abnormality treatment, it warns the driver of the abnormality by a warning lamp or the like. The warning to the driver is not limited to lighting up the warning lamp, but may be a display or a voice warning. Details of the abnormality determination and the abnormality treatment will be described in the embodiment described later.

[0058] In the cooperative drive control, the second system L2 performs current control using a current command value transmitted from the first system L1 by inter-microcomputer communication. In detail, the current command value transmitted from the first system L1 is a first torque current command value Itrq1 * However, in the following, for the sake of simplicity, the current command value commonly used by the control units 151 and 251 during the cooperative drive control will be referred to as the current command value I * Let us assume that.

[0059] The current control calculation will be explained based on the time charts of Fig. 7 and Fig. 8. In Fig. 7 and Fig. 8, the horizontal axis represents a common time axis, and from the top, there are current command calculation in first control unit 151, storage of transmission current command value, current feedback control in first control unit 151, communication between microcomputers, storage of reception current command value, and current feedback control in second control unit 251. Hereinafter, "feedback" will be abbreviated as "FB" where appropriate.

[0060] In FIG. 7 and other figures, the top three rows are processes in the first control unit 151, and the bottom two rows are processes in the second control unit 251. In the figures, "(L1)" means processes in the first control unit 151, and "(L2)" means processes in the second control unit 251. <ca>" The calculated values ​​are indicated appropriately, and the exchange of the calculated values ​​is indicated by dashed arrows. Figures 7 and 8 also show an example in which the current FB calculation period (e.g., 200 [μs]) is shorter than the command calculation period (e.g., 400 [μs]).

[0061] As shown in FIG. 7, the current command value I * If the value of is Ca, the current command value I * The value Ca is stored in the transmission unit 171 as the current command value I * is stored in the receiving unit 272 at time x14. Also, at time x15, the current command value I * The values ​​of both are Ca, and the current FB calculation is performed using the same value.

[0062] Here, in the current command value calculation from time x16, the current command value I * If the calculation of is not completed in time for the time x17, which is the timing for updating the stored data in the communication between microcomputers, the previous value Ca is held in the transmission unit 171, and at the time x18, the current command value I * At time x19, the second control unit 251 transmits the current command value I * A current FB calculation is performed using the value Ca as the

[0063] As a reference example, at time x19, the current FB calculation in the first control unit 151 uses the current command value I * If the latest value Cb is used as the current command value I, the control units 151 and 251 perform current FB control with different command values. * If they are different, the voltage command value increases, and there is a risk of an abnormal current occurring.

[0064] Therefore, in this embodiment, the first control unit 151 and the second control unit 252 set the same current command value I * In order to perform a current FB calculation using the above, the first control unit 151 uses the value stored in the transmission unit 171 for the current FB calculation.

[0065] As shown in FIG. 8, the value Ca calculated by the current command calculation in the first control unit 151 from time x20 to time x21 is stored in the transmission unit 171 at time x22 and transmitted to the second control unit 251 by inter-microcomputer communication at time x23. The processing on the second control unit 252 side is the same as that in FIG. 7. At time x24, the first control unit 151 transmits the value Ca stored in the transmission unit 171 as the current command value I * The current FB is calculated using the

[0066] In the current command calculation from time x30, the current command value I * If the calculation of the current command value I is not completed in time for the time x31, which is the timing for updating the stored data in the communication between microcomputers, the transmission unit 171 holds the value Ca at the time of the previous update. Therefore, at time x33, the first control unit 151 * That is, the first control unit 151 performs a current FB calculation using the current command value I * Although the calculation of has been completed, in order to match the value used with the second control unit 251, the current FB calculation is performed using the previous value Ca stored in the transmission unit 171, rather than the value Cb calculated at time x32.

[0067] At the next data update timing, time x34, the value Cb calculated at time x32 becomes the current command value I * At time x36, the control units 151 and 251 both set the value Cb as the current command value I * This is used to perform current feedback control.

[0068] The current control process of this embodiment will be described with reference to the flowchart of Fig. 9. This process is performed by the first control unit 151, which is the main control unit. Hereinafter, the "step" such as step S101 will be omitted, and the steps will simply be referred to as "S".

[0069] In S101, the first control unit 151 determines the current command value I * In S102, the first control unit 151 updates the data in the transmission unit 171 at a predetermined update timing. Here, if the current command calculation is not completed, the previous value is held. In S103, the first control unit 151 transmits the data stored in the transmission unit 171 to the second control unit 251 by inter-microcomputer communication. In S104, the first control unit 151 transmits the current command value I stored in the transmission unit 171 to the second control unit 251. * The current feedback control calculation is performed using

[0070] In this embodiment, the first system L1 and the second system L2 have the same current command value I * In order to perform a current FB calculation using the current command value I, the first control unit 151 performs a current FB calculation using the value stored in the transmission unit 171. * Even if the calculation is not completed in time, the control units 151 and 251 can perform a current feedback calculation using the same values.

[0071] As described above, the ECU 10 controls the driving of the motor 80 having a plurality of sets of motor windings 180, 280, and includes a plurality of control units 151, 251. The control units 151, 251 have current control units 500, 600, which are provided for each of the motor windings 180, 280 and can communicate with each other. The current control units 500, 600 calculate a voltage command value to be applied to the motor windings 180, 280 based on a current detection value and a current command value of the current passed through the motor windings 180, 280, and control the current supply to the motor windings 180, 280 based on the voltage command value.

[0072] The ECU 10 is capable of implementing cooperative drive control in which a combination of the motor windings 180, 280 and the corresponding control units 151, 251 is treated as a system, and at least one parameter is shared between the systems to perform energization control. The parameters include a current command value, a current detection value, etc., and may include command values ​​and detection values ​​other than current. In detail, in this embodiment, in the cooperative drive control, the current detection values ​​Id1, Iq1, Id2, Iq2 and the torque current command value Itrq1 are used. * etc. are shared.

[0073] If one control unit 151 is a main control unit and the other control unit 251 is a sub-control unit, the second control unit 251 receives the current command value I * The first control unit 151 controls the current supply to the motor winding 280 using the same current command value I * The control units 151 and 251 use the same current command value I * By using this, it is possible to prevent the occurrence of abnormal currents due to deviations in command values ​​between systems.

[0074] The first control unit 151 transmits a current command value I * The transmitter 171 has a current command value I * The current command value I * Even if the calculation is not completed in time for the inter-microcomputer communication, the first control unit 151 can perform the current FB control calculation using the same value as the value transmitted to the second control unit 251.

[0075] Second embodiment The second embodiment is shown in Figs. 10 to 13. The current control process of this embodiment will be described based on the flowchart of Fig. 10. Hereinafter, the calculation timing will be appropriately indicated by the subscripts (n), (n-1), etc. In S121, the first control unit 151 calculates the current command value I * Calculate the following.

[0076] In S122, the first control unit 151 stores the current value I * (n) is the previous value I * (n-1) Determine whether this value is different from I * (n) is the previous value I * (n-1) If it is determined that the current value I is equal to the current value I (S122: NO), S123 is skipped and the value of the transmission unit 171 is not updated. * (n) is the previous value I * (n-1) If it is determined that the data is different from the data stored in the transmission unit 171 (S122: YES), the process proceeds to S123, and the data stored in the transmission unit 171 is updated at a predetermined update timing. In S124, the control unit 151 transmits the data stored in the transmission unit 171 to the second control unit 251 by inter-microcomputer communication.

[0077] In S125, the first control unit 151 transmits the current command value I * It is determined whether the current command value I * If it is determined that the current command value I * The current command value I * If it is determined that the current command value I1 has not been updated (S124: NO), the process proceeds to S127. * Current FB control calculation is performed without updating.

[0078] 11 to 13 are time charts illustrating the current control process. As shown in FIG. 11, the current command value I * is Cb, which is different from the value Ca stored in the transmission unit 171, so that the value Cb is stored in the transmission unit 171 at time x42, which is the timing for updating stored data in the inter-microcomputer communication.

[0079] At time x43, the current command value I * is transmitted to the second control unit 251. At time x44, the first control unit 151 transmits the current command value I * has been updated to the value Cb, the current FB calculation is performed using the value Cb. As a result, at time x44, the control units 151 and 251 perform current FB control calculations using the same value Cb.

[0080] As shown in FIG. 12, in the current command calculation from time x50, the current command value I * If the calculation of is not completed in time for the time x51, which is the timing for updating stored data in the inter-microcomputer communication, the data in the transmission unit 171 is not updated, the value Ca is held, and is transmitted to the second control unit 251 at time x52. In the second control unit 251, the current command value I * At time x54, since the data of the transmission unit 171 has not been updated, the first control unit 151 does not update the command value used in the current FB control calculation, and the current command value I * In other words, if the value stored in the transmission unit 171 has not been updated, the current command value I * Also does not update.

[0081] At time x55, which is the next data update timing after time x51, the current command value I * is updated to the calculated value Cb at time x53, and is transmitted to the second control unit 251 at time x56. At time x57, the second control unit 252 * Since the data of the transmission unit 171 has been updated, the first control unit 151 performs a current FB calculation using the value Cb as the current command value I * is updated to the value Cb, and current FB control calculation is performed.

[0082] As shown in Fig. 13, the current command value I * If the value of I is the same as the value Ca stored in the transmission unit 171, the value stored in the transmission unit 171 is not updated. * Until the calculation of the current command value I * The calculation is continued using the value Ca as

[0083] In this embodiment, the first control unit 151 receives the current command value I * If the value has been updated, the current command value I * In addition, the current command value I * If the current command value I * This allows the control units 151 and 251 to perform the current FB calculation using the same value.

[0084] The first control unit 151 receives the current command value I * If the current command value I is not updated, the previous value is held as the current command value and the current supply control of the motor winding 180 is performed. * If the calculation of the current command value I * Since the current FB control calculation is performed using the previous value without updating, it is possible to prevent the occurrence of abnormal current due to deviation of the command values ​​between the systems. Also, the same effects as those of the above embodiment are achieved.

[0085] Third embodiment The third embodiment is shown in FIG. 14. In the above embodiment, the control units 151 and 251 control the current command value I * The current FB control is performed using the same value as the current command value I * Even if the constants used in the current feedback control are the same, if the set constants used in the current feedback control are different, the voltage command value as the current feedback control calculation result will differ, and there is a risk of an abnormal current occurring.

[0086] Therefore, in this embodiment, the first control unit 151 has all the setting constants, and the second control unit 251 performs current control calculation using the setting constants transmitted from the first control unit 151. The setting constants include, for example, a current limit value, a PI gain, and an abnormality determination threshold value. Note that the second control unit 251 may be configured to have the setting constants, and the second control unit 251 may be configured to transmit the setting constants to the first control unit 151.

[0087] The set constant transmission process of this embodiment will be described with reference to the flowchart of Fig. 14. This process is performed, for example, at the time of an initial check when the ECU 10 is started, but may be performed at any timing other than the initial check. The same applies to the tenth embodiment.

[0088] In S201, the first control unit 151 transmits a setting constant to the second control unit 251. In S202, the second control unit 251 receives the setting constant from the first control unit 151. In S203, the second control unit 251 stores the received setting constant in a storage unit (not shown).

[0089] In this embodiment, one control unit 151 transmits a setting constant, which is a constant used in the current control calculation, to the other control unit 251. In other words, in this embodiment, the setting constant is stored in only one control unit 151, and is shared with the other control unit 251. This allows the control units 151 and 251 to perform current control calculation using the same setting constant, preventing deviation of the calculation value due to differences in the setting constant. Also, the same effects as the above embodiment are achieved.

[0090] (Fourth embodiment) The fourth embodiment is shown in Figs. 15 to 23. In the above embodiment, the control units 151 and 251 control the current command value I * In this embodiment, the control units 151 and 251 have a common current command value I * We will explain the cases where the above are different.

[0091] First, the current FB control calculation will be explained using the q-axis current as an example. The q-axis current detection value of the first system L1 is Iq1, the q-axis current detection value of the second system L2 is Iq2, the q-axis current sum Iq_a is given by equation (1), and the q-axis current difference Iq_s is given by equation (2). Furthermore, when the current difference command value is set to 0 and the current detection value is stable, the current sum command value and the current sum match. Furthermore, assuming equations (1) and (2), the current detection values ​​Iq1 and Iq2 are expressed by equations (3) and (4) from the current sum and current difference.

[0092] Iq_a = Iq1 + Iq2 (1) Iq_s = Iq1 - Iq2 (2) Iq1=(Iq_a+Iq_s) / 2 (3) Iq2=(Iq_a-Iq_s) / 2 (4)

[0093] If the current sum command value of the first system L1 is x and the current sum command value of the second system L2 is y, then the equations (5) to (7) are obtained, and the slopes of the FB control amounts FBq_a1, FBq_a2, FBq_s1, and FBq_s2 are all the same. That is, in the first system L1, the sum FB control amount FBq_a1 and the difference FB control amount FBq_s1 increase by the same amount in opposite directions, and in the second system L2, the sum FB control amount FBq_a2 and the difference FB control amount FBq_s2 increase by the same amount in the same direction. Also, when the sum FB control amount and the difference FB control amount change in the same way, the voltage command value does not change.

[0094] Current sum command value of the first system - current sum =Iq_a1 * -Iq_a=x-(x+y) / 2=(xy) / 2 ···(5) Current sum command value of the second system - current sum =Iq_a2 * -Iq_a=y-(x+y) / 2=-(xy) / 2 ···(6) Current difference command value - current difference =Iq_s1 * -Iq_s=Iq_s2 * -Iq_s =0-(xy) / 2=-(xy) / 2 (7)

[0095] In addition, the voltage command value Vq1 of the first system L1 * (8), the voltage command value Vq2 of the second system L2 * is expressed as equation (9).

[0096] Vq1 * =(FBq_a1+FBq_s1) / 2 (8) Vq2 * =(FBq_a2-FBq_s2) / 2 (9)

[0097] 15 to 17, the horizontal axis is time, FIG. 15 shows the current command value and the current detection value, FIG. 16 shows the FB control amount of the sum and difference of the first control unit 151, and FIG. 17 shows the FB control amount of the sum and difference of the second control unit 251. As shown in FIG. 15, the current sum command value Iq_a1 of the first control unit 151 * and the current detection value Iq1 and Iq_a2 of the second control unit 251 * and the current detection value Iq1 are assumed to be different.

[0098] As shown in FIG. 16, in the first control unit 151, the q-axis current sum Iq_a, which is the detected value, is converted into a current sum command value Iq_a1 * 17, the second control unit 251 calculates the q-axis current sum Iq_a to the current sum command value Iq_a2. * Since the sum of the FB control amounts FBq_a2 is greater than the sum of the FB control amounts FBq_a2, the sum of the FB control amounts FBq_a2 is calculated to reduce the current sum. Also, since a difference occurs between the current detection values ​​Iq1 and Iq2 as shown in Fig. 16 and Fig. 17, the difference of the FB control amounts FBq_s1 and FBq_s2 is calculated to reduce the current difference.

[0099] In this embodiment, in the current control arithmetic units 530 and 630, guards are provided for the upper and lower limits of the FB control amount to prevent control overflow. Assuming that the limit value of the sum FB control amount is A_lim and the limit value of the difference FB control amount is S_lim, the limit value A_lim of the sum may be set to be larger than the limit value S_lim of the difference so that the output during single-phase drive is as expected. In some cases, the limit value A_lim of the sum and the limit value S_lim of the difference are made different from each other.

[0100] FIG. 18 shows values related to the q-axis current of the first phase L1. From the upper row, they are the sum FB control amount FBq_a1, the difference FB control amount FBq_s1, and the voltage command value Vq1. * In this example, the limit value A_lim of the sum (not shown in FIG. 18) is different from the limit value S_lim of the difference, and |S_lim| < |A_lim|. At time xr, when the difference FB control amount FBq_s1 reaches the limit value -S_lim, FBq_s1 is limited to -S_lim. On the other hand, since the sum FB control amount FBq_a1 < A_lim, the voltage command value Vq1 * increases as the sum FB control amount FBq_a1 increases. As shown in FIG. 19, even if the current sum is constant, there is a risk of overcurrent when the current detection values Iq1 and Iq2 increase as the voltage command values Vq1 * and Vq2 * increase.

[0101] Therefore, in this embodiment, when either the sum FB control amount FBq_a or the difference FB control amount FBq_s is limited by the limit value, the other retains the previous value. The FB control amount limit process of this embodiment will be described based on the flowchart of FIG. 20. In FIG. 20, it is described assuming that the limit value A_lim of the sum is larger than the limit value S_lim of the difference.

[0102] In S301, the current control calculation units 530, 630 judge whether the difference FB control amount FBq_s is limited by the difference limit value S_lim. If it is judged that the difference FB control amount FBq_s is not limited by the difference limit value S_lim (S301: NO), the process proceeds to S302, and the current calculation value is used as the sum FB control amount FBq_a. If it is judged that the difference FB control amount FBq_s is limited by the difference limit value S_lim (S301: YES), the process proceeds to S303, and the previous value is held as the sum FB control amount FBq_a.

[0103] In FIG. 21, the first system L1 is taken as an example, the common time axis is the horizontal axis, and from the top, the sum feedback control amount FBq_a1, the difference feedback control amount FBq_s1, and the voltage command value Vq1 * As shown in FIG. 21, when |S_lim|<|A_lim| and the difference feedback control amount FBq_s1 is limited by the difference limit value -S_lim at time x60, the sum feedback control amount FBq_a1 holds the previous value. As a result, the voltage command value Vq1 * Since the load current is maintained, an overcurrent can be prevented.

[0104] The limit values ​​may be the same for the sum and difference of the d-axis and the sum and difference of the q-axis, and may be the same or different for the values ​​related to the d-axis and the q-axis. In Fig. 22 and Fig. 23, the first system L1 is used as an example, the common time axis is the horizontal axis, and from the top, the FB control amount FBd_a1 of the sum of the d-axis, the FB control amount FBs_s1 of the difference, the FB control amount FB_a1 of the sum of the q-axis, and the FB control amount FBq_s1 of the difference are shown. Also, the limit value of the sum of the d-axis is Ad_lim, the limit value of the difference of the d-axis is Sd_lim, the limit value of the sum of the q-axis is Aq_lim, and the limit value of the difference of the q-axis is Sq_lim.

[0105] In the example of FIG. 22, the limit value Sd_lim of the difference on the d-axis and the limit value Sq_lim of the difference on the q-axis are different, and Sd_lim < Sq_lim. At time x61, since the FB control amount FBd_s1 of the difference on the d-axis is limited by the limit value Sd_lim, the sum FB control amount FBd_a1 retains the previous value. Also, at time x62, since the FB control amount FBq_s1 of the difference on the q-axis is limited by the limit value Sq_lim, the sum FB control amount FBq_a1 retains the previous value.

[0106] Also, since the slopes of the FB control amounts are equal, as shown in FIG. 23, overcurrent can also be prevented by setting the limit value Ad_lim of the sum and the limit value Sd_lim of the difference on the d-axis, and the limit value Aq_lim of the sum and the limit value Sq_lim of the difference on the q-axis to the same values respectively. In the example of FIG. 23, at time x65, both the sum FB control amount FBd_a1 and the difference FB control amount FBs_s1 on the d-axis are limited by the limit values. Also, at time x66, both the sum FB control amount FBq_a1 and the difference FB control amount FBq_s1 on the q-axis are limited by the limit values.

[0107] In the present embodiment, the energization control units 500 and 600 limit the upper and lower limits of the sum FB control amount FB_a, which is the feedback operation result based on the current sum, and the difference FB control amount FB_s, which is the feedback operation result based on the current difference, in the current feedback control using the current sum and the current difference between the current detection value of its own system and the current detection value of the other system. Specifically, during the cooperative drive control, the upper and lower limits are limited so that the sum FB control amount FB_a and the difference FB control amount FB_s are limited simultaneously. Here, "simultaneously" means that an error within a range that does not disrupt the balance and cause a large current is allowed. Thereby, control overflow can be prevented.

[0108] When one of the sum FB control amount FB_a or the difference FB control amount FB_s is limited by a limit value, the current supply control units 500 and 600 hold the previous value of the other of the sum FB control amount FB_a or the difference FB control amount FB_s. As a result, even if the sum limit value A_lim and the difference limit value S_lim are set to different values, it is possible to simultaneously limit the sum FB control amount FB_a and the difference FB control amount FB_s during cooperative drive control, and overcurrent can be prevented.

[0109] Also, the sum limit value A_lim that limits the upper and lower limits of the sum FB control amount FB_a and the difference limit value S_lim that limits the upper and lower limits of the difference FB control amount FB_s may be set equal to each other. This prevents the balance between the sum and difference FB control amounts from being lost, and can prevent overcurrent. Also, the same effects as those of the above embodiment are achieved.

[0110] Fifth embodiment A fifth embodiment is shown in Fig. 24 and Fig. 25. In the fifth to tenth embodiments, abnormality measures are mainly described using the first system L1 as an example. When the q-axis current detection value Iq1 of the first system L1 increases in the positive direction and the q-axis current detection value Iq2 of the second system L2 increases in the negative direction, the sum becomes 0, and it may appear that no large current is flowing (see Fig. 19). On the other hand, if the balance is lost, the large current will become apparent and may lead to a breakdown of the controlled object.

[0111] Therefore, in this embodiment, when an abnormality occurs in the current detection value in one or more systems, an abnormality action is taken. The abnormality determination process of this embodiment will be described with reference to the flowchart of Fig. 24 and the time chart of Fig. 25. As shown in Fig. 24, in S401, the abnormality determination unit 560 acquires the current detection values ​​Id1, Iq1, Id2, and Iq2 of each system.

[0112] In S402, the abnormality determination unit 560 determines whether the current detection values ​​Id1, Iq1, Id2, and Iq2 of each system are smaller than the current abnormality determination threshold THi. Here, the determination is made based on absolute values. The current abnormality determination threshold THi may be equal to or different from the value related to the d-axis and the value related to the q-axis. If it is determined that the current detection values ​​Id1, Iq1, Id2, and Iq2 of each system are smaller than the current abnormality determination threshold THi (S402: YES), the process proceeds to S403, and normal coordinated drive control is continued in the two systems. If it is determined that at least one of the current detection values ​​Id1, Iq1, Id2, and Iq2 of each system is equal to or greater than the current abnormality determination threshold THi (S402: NO), the process proceeds to S404, and abnormality treatment is performed. When abnormality treatment is performed, the warning unit 565 issues a warning using a warning lamp or the like. The same applies to the abnormality treatment in the embodiments described below.

[0113] In FIG. 25, the common time axis is the horizontal axis, the upper part shows the detected current, and the lower part shows the state transition. Here, the q-axis current detection value Iq1 is illustrated as the detected current. When the q-axis current detection value Iq1 exceeds the current abnormality determination threshold THi at time x68, the abnormality process is switched from the two-system coordinated drive control to the independent drive control. Instead of switching to the independent drive control, the abnormality process may be switched to a single-system drive control that stops the system in which the current abnormality is detected, or the assist stop. Alternatively, the abnormality process may be switched to a voltage command value that is calculated based on the current FB calculation result while continuing the two-system coordinated drive control, so that an overcurrent does not occur.

[0114] In addition, in S402, instead of the judgment based on the current detection value, the d-axis current sum Id_a or the q-axis current sum Iq_a may be used for the judgment. * , Vq * exceed the voltage abnormality determination threshold THv, an abnormality action may be taken. In addition, the current command value and the voltage command value are not limited to values ​​on the dq axes, and three-phase values ​​may be used for abnormality determination.

[0115] When the current detection value or the sum of the current detection values ​​of the multiple systems is greater than the current abnormality determination threshold THi, the control units 151 and 251 limit the voltage command value or stop the cooperative drive control. Stopping the cooperative drive control includes transition to independent drive control, transition to single-system drive control, and assist stop.

[0116] Furthermore, when the voltage command value is greater than the voltage abnormality determination threshold THv, the control units 151 and 251 may limit the voltage command value or stop the cooperative drive control. By limiting the voltage command value or stopping the assist, the current of the motor windings 180 and 280 can be directly reduced. Moreover, by shifting to the independent drive control or the single-system drive control, it is possible to prevent an overcurrent caused by a deviation in the current command value between the systems.

[0117] The control units 151 and 251 have warning units 565 and 665 that warn the driver when limiting the voltage command value or stopping the cooperative drive control. This makes it possible to appropriately inform the driver of the fact that the control is different from the normal cooperative drive control in two systems. In addition, the same effects as those of the above embodiment are achieved.

[0118] Sixth embodiment The sixth embodiment is shown in Fig. 26. In this embodiment, when an abnormality in the substrate temperature is detected, an abnormality measure is taken. The abnormality determination process of this embodiment will be described with reference to the flow chart of Fig. 26.

[0119] In S501, the control unit 151 calculates the estimated substrate temperature Hb based on the detection value of a temperature sensor (not shown). In S502, the abnormality determination unit 560 determines whether the estimated substrate temperature Hb is lower than the overheat determination threshold THh. If it is determined that the estimated substrate temperature Hb is lower than the overheat determination threshold THh (S502: YES), the process proceeds to S503. If it is determined that the estimated substrate temperature Hb is equal to or higher than the overheat determination threshold TH (S502: NO), the process proceeds to S504.

[0120] In S503, the current control calculation unit 530 does not limit the voltage, and outputs the voltage command value calculated based on the current command value as it is. In S504, the current control calculation unit 530 outputs the voltage command value Vq1 as a measure for the abnormality. * , Vd1 * are limited to the voltage limits Vq_lim and Vd_lim.

[0121] For example, when the temperature estimation calculation period is greater than the current FB control calculation period, such as when the current FB calculation period is 200 [μs] and the temperature estimation calculation period is 80 [ms], the calculation load can be reduced compared to when the voltage is limited using parameters related to the current FB control. In addition, by limiting the voltage command value calculated based on the current FB control calculation result as overheat protection, it is possible to prevent abnormal current that cannot be prevented by limiting the current command value, such as command deviation between systems. In addition, as a measure to be taken when an abnormality occurs, a shift to independent drive control, a shift to single system drive control, or assist stop may be performed.

[0122] In this embodiment, when the estimated substrate temperature Hb, which is the temperature of the substrate 20 on which the inverter circuits 120, 220 related to switching of the current supply to the motor windings 180, 280 are mounted, is higher than the overheat determination threshold THh, the voltage command value is limited or the cooperative drive control is stopped. By limiting the voltage command value, which is the command value after the current FB control, the drive voltage is reduced, so that overheating of the inverter circuits 120, 220, etc. can be more appropriately suppressed. Also, the same effects as those of the above embodiment are achieved.

[0123] Seventh embodiment The seventh embodiment is shown in Fig. 27 to Fig. 30. As explained in Fig. 7 etc., there is a risk of an abnormal current occurring if the current command values ​​used in the current FB control are different. Therefore, in this embodiment, an abnormality measure is taken when the current command values ​​used in the current FB control are different.

[0124] The command value comparison process of the first control unit 151, which is the main side in this embodiment, is shown in FIG. 27, and the command value comparison process of the second control unit 251, which is the sub side, is shown in FIG. 28. This process is performed when the coordinated drive control is performed by sharing the command value. As shown in FIG. 27, in S601, the first control unit 151 compares the current command value I1 * is stored in the transmission unit 171 as a comparison value. * _c, I2 * Let's call it _c.

[0125] In S602, the first control unit 151 sets the comparative current command value I1 * ._c to the second control unit 251. In S603, the first control unit 151 receives the comparison result from the second control unit 251.

[0126] In S604, the abnormality determination unit 560 determines the comparative current command value I1 based on the comparison result obtained from the second control unit 251. * _c, I2 * _c is judged to be consistent. Comparison current command value I1 * _c, I2 * If it is determined that the current command values ​​I1 and I2 match (S604: YES), the process proceeds to S605, and normal coordinated drive control is continued for the two systems. * _c, I2 * If it is determined that _c does not match (S604: NO), the process proceeds to S606, and abnormality processing is performed.

[0127] As shown in FIG. 28, in S651, the second control unit 251 calculates the current command value I2 * is stored in a memory unit (not shown) for comparison. The value stored here is I2 * When the cooperative drive control is performed, the value received from the first control unit 151 through the inter-microcomputer communication is the comparative current command value I2 * It is stored as _c.

[0128] In S652, the second control unit 251 receives the comparative current command value I1 from the first control unit 151 through inter-microcomputer communication. * In S653, the second control unit 251 receives the comparative current command value I1 * _c, I2 * In S654, the second control unit 251 compares the comparative current command value I1 * _c, I2 * The comparison result of ._c is transmitted by inter-microcomputer communication to the first control unit 151. The processes of S655 to S657 are similar to the processes of S604 to S606 in FIG.

[0129] The command value comparison process of this embodiment will be described with reference to the time charts of Fig. 29 and Fig. 30. Fig. 29 shows the torque current command value Itrq1 * For comparison, FIG. 30 shows, for example, the q-axis current command value Iq1 * , Iq2 * This is an example in which the command value used in the calculation in the current control calculation unit 530 such as the above is used for comparison. A d-axis current command value may be used instead of the q-axis current command value. This also applies to the ninth embodiment. In Fig. 29 and Fig. 30, the processing related to the comparison data will be mainly described, and the description of transmission and reception of data used in the current FB calculation will be omitted.

[0130] As shown in FIG. 29, at time x70, the first control unit 151 sets the comparative current command value I1 * _c is the torque current command value Itrq1 * is stored in the transmission unit 171. Also, at time x71, the second control unit 251 stores the torque current command value received from the first control unit 151 as the comparative current command value I2 * The comparative current command value I1_c is stored in the receiving unit 272. It may be stored in a storage area other than the receiving unit 272. * _c, I2 * _c is a value used in the current FB control calculation at time x72.

[0131] At time x73 after the current FB control calculation, the first control unit 151 uses the comparative current command value I1 * At time x74, the second control unit 251 transmits the current command value I1 used in the previous current FB control calculation. * _c, I2 * _c, and transmits the comparison result to the first control unit 151 by inter-microcomputer communication.

[0132] In the current feedback control calculation at time x75, a process is performed according to the command value comparison result used in the previous calculation. That is, the current command value I1 used in the previous current feedback control calculation is * _c, I2 * If the _c values ​​match, normal coordinated drive control is performed for the two systems, but if they do not match, abnormality treatment is performed.

[0133] As shown in FIG. 30, at time x76, the first control unit 151 calculates the q-axis current command value Iq1 * The comparison current command value I1 * The second control unit 251 stores the q-axis current command value Iq2 used in the current FB control calculation in the transmission unit 171 as Iq2_c. * is the comparison current command value I2 * The result is stored as _c in a storage unit (not shown).

[0134] At time x77, the first control unit 151 receives a comparative current command value I1 * At time x78, the second control unit 251 transmits the comparative current command value I1 * _c, I2 * 29._c, and transmits the comparison result by inter-microcomputer communication to first control unit 151. The current FB control calculation at time x79 is the same as that at time x75 in FIG.

[0135] In this embodiment, the first control unit 151 outputs a comparative current command value I1 * In the above description, _c is transmitted to the second control unit 251, and the second control unit 251 performs the command value comparison. However, a comparison value may be transmitted from the second control unit 251 to the first control unit 151, and the command value comparison may be performed in the first control unit 151, or comparison values ​​may be exchanged, and the control units 151 and 251 may each perform the command value comparison.

[0136] In the examples of Figs. 29 and 30, command value comparison between the systems is performed every calculation period (e.g., 200 [μs]) of the current command value or current FB control, but the comparison period may be different from the calculation period of the current command value, etc., for example, every 800 [μs]. When the comparison period is different from the calculation period, the comparison may be performed using a value at the comparison timing as a representative value, or all values ​​may be transmitted and compared individually. In addition, for example, a comparison may be performed using a calculated value (e.g., an added value) using a plurality of values ​​calculated during the comparison period. Also, a comparison may be performed by calculating a check value such as a CRC signal. The same applies to each parameter used for comparison in the embodiments described later.

[0137] The control units 151 and 251 compare the previous own system command value, which is the command value used in the previous current control calculation in the own system, with the previous other system command value, which is the command value used in the previous current control calculation in the other system, and if the previous own system command value and the previous other system command value differ, they limit the voltage command value or stop the cooperative drive control. This makes it possible to prevent a long-term deviation in the current command value, and therefore to prevent overcurrent due to deviation in the command value. In addition, the same effects as those of the above embodiment are achieved.

[0138] Eighth embodiment An eighth embodiment is shown in Fig. 31 to Fig. 33. In the seventh embodiment, whether or not to take abnormality action is determined by comparing the command value of the previous calculation. In the eighth and ninth embodiments, whether or not to take abnormality action is determined by comparing the current command value.

[0139] The process on the side of the first control unit 151 is shown in Fig. 31, and the process on the side of the second control unit 251 is shown in Fig. 32. As shown in Fig. 31, in S701, the first control unit 151 calculates the torque current command value Itrq1 * to the second control unit 251. In S702, the first control unit 151 transmits a return value Itrq1, which is a torque current command value returned from the second control unit 251. * Receive _r.

[0140] In S703, the first control unit 151 returns the return value Itrq1 * The torque current command calculation unit 513 compares the returned value Itrq1 with the value calculated by the torque current command calculation unit 513. * The value used in the comparison with _r is defined as a “first system calculated value.” In S704, the first control unit 151 transmits the comparison result to the second control unit 251.

[0141] In S705, the first control unit 151 returns the return value Itrq1 * Determine whether _r matches the calculated value of the first system. Return value Itrq1 * If it is determined that _r matches the calculated value of the first system (S705: YES), the process proceeds to S706, and normal coordinated drive control in the two systems is continued. * If it is determined that _r does not match the first system calculated value (S705: NO), the process proceeds to S707, and abnormality measures are taken.

[0142] As shown in FIG. 32, in S751, the second control unit 251 transmits the torque current command value Itrq1 * In S752, the second control unit 251 receives the value received in S251 as the return value Itrq1. * _r to the first control unit 151 through inter-microcomputer communication. In S753, the second control unit 251 receives the comparison result from the first control unit 151 through inter-microcomputer communication.

[0143] In S754, the second control unit 251 sets the return value Itrq1 based on the comparison result obtained from the first control unit 151. * It is determined whether or not _r coincides with the calculated value of the first system. Details of S754 to S756 are similar to those of S705 to S707 in FIG.

[0144] The command value comparison process of this embodiment will be described with reference to the time chart of Fig. 33. At time x80, the first control unit 151 compares the torque current command value Itrq1 calculated by the torque current command calculation unit 513 with the torque current command value Itrq2 calculated by the torque current command calculation unit 513. * is stored in the transmission unit 171. At time x81, the first control unit 151 stores the torque current command value Itrq1 * to the second control unit 251, and the second control unit 251 stores the received value in the receiving unit 272.

[0145] At time x82, the second control unit 251 receives the torque current command value Itrq1 from the first control unit 151. * At time x83, the first control unit 151 returns the return value Itrq1 sent back from the second control unit 251. * The first system calculation value is compared with the torque current command value Itrq1, and the comparison result is transmitted to the second control unit 251 by inter-microcomputer communication. At time x84, a process is performed according to the comparison result. * There is no delay in the calculation, and the return value Itrq1 * Since _r and the calculated value of the first system are the same, cooperative drive control is performed for the two systems.

[0146] At time x85, which is the data storage timing of the next inter-microcomputer communication, the previous value is held because the current command value calculation is not completed. At time x86, the previous value is sent from the first control unit 151 to the second control unit 251 by inter-microcomputer communication, and at time x87, a value is returned from the second control unit 251 to the first control unit 151 by inter-microcomputer communication.

[0147] At time x88, the first control unit 151 returns the return value Itrq1 * The second control unit 251 compares the current command value Itrq1_r with the first system calculation value, and transmits the comparison result to the second control unit 251 by inter-microcomputer communication. Although it was not in time for the data storage timing of the inter-microcomputer communication at time x85, the current command value Itrq1_r was transmitted at the comparison timing of time x88. * Therefore, the current command value Itrq1 * If the value of has changed from the previous cycle, the comparison result at time x88 will not match. Therefore, at time x89, abnormality processing is performed.

[0148] The second control unit 251 sends back the current command value transmitted from the first control unit 151 to the first control unit 151, and the first control unit 151 returns the current command value sent back from the second control unit 251 as a return value Itrq1. * _r is compared with the current command value of the own system, and if the values ​​are different, the voltage command value is limited or the cooperative drive control is stopped. This makes it possible to transition to abnormality measures depending on the comparison result of the current value. Also, the same effects as those of the above embodiment are achieved.

[0149] Ninth embodiment The ninth embodiment is shown in Fig. 34 to Fig. 36. The process on the first control unit 151 side is shown in Fig. 34, and the process on the second control unit 251 side is shown in Fig. 35. As shown in Fig. 34, in S801, the first control unit 151 calculates the q-axis current command value Iq1 * The q-axis current command value Iq1 for comparison * In step S802, the first control unit 151 stores the comparative q-axis current command value Iq1 * ._c to the second control unit 251. In S803, the first control unit 151 receives the comparison result from the second control unit 251.

[0150] In S804, the first control unit 151 sets the comparative q-axis current command value Iq1 * _c, Iq2 * _c is judged to be consistent. Comparison q-axis current command value Iq1 * _c, Iq2 * If it is determined that the q-axis current command value Iq1 and the q-axis current command value Iq2 match (S804: YES), the process proceeds to S805, where normal coordinated drive control is performed for the two systems. * _c, Iq2 * If it is determined that _c does not match (S804: NO), the process proceeds to S806, and abnormality processing is performed.

[0151] As shown in FIG. 35, in S851, the second control unit 251 receives the torque current command value Itrq1 from the first control unit 151 in a process separate from this process. * The q-axis current command value Iq2 calculated based on * is stored in a memory unit (not shown) for comparison. The value stored here is Iq2 * Let's call it _c.

[0152] In S852, the second control unit 251 receives the comparative q-axis current command value Iq1 from the first control unit 151 through inter-microcomputer communication. * In S853, the second control unit 251 receives the comparative q-axis current command value Iq1 * _c, Iq2 * _c. In S854, the second control unit 251 transmits the comparison result to the first control unit 151. The processes of S855 to S857 are similar to the processes of S805 to S807 in FIG.

[0153] The command value comparison process of this embodiment will be described with reference to the time chart of Fig. 36. At time x91, the first control unit 151 compares the q-axis current command value Iq1 * The q-axis current command value Iq1 for comparison * The second control unit 251 stores the q-axis current command value Iq2 * is the comparison current command value Iq2 * The result is stored as _c in a storage unit (not shown).

[0154] At time x92, the first control unit 151 sets the comparative q-axis current command value Iq1 * At time x93, the second control unit 251 transmits the comparative q-axis current command value Iq1 * _c, Iq2 * _c, and transmits the comparison result to the first control unit 151 by inter-microcomputer communication. At time x94, a process is performed according to the comparison result. That is, the comparative q-axis current command value Iq1 * _c, Iq2 * If the values ​​of _c match, normal coordinated drive control is performed for the two systems. If they do not match, abnormality treatment is performed.

[0155] In this embodiment, the control units 151 and 251 control the torque current command value Itrq * The d-axis current command value Id used for current feedback control is calculated based on * , Iq * Before the current feedback control calculation, the dq-axis current command value Id * , Iq * If at least one of the above is different from the value related to the other system, the voltage command value is limited or the cooperative drive control is stopped. As a result, similar to the eighth embodiment, it is possible to transition to abnormality measures depending on the comparison result of the current value. Also, the same effects as the above embodiments are achieved.

[0156] Tenth embodiment The tenth embodiment will be described with reference to Fig. 37 and Fig. 38. In the third embodiment, the first control unit 151 has a set constant, and the second control unit 251 acquires the set constant from the first control unit 151 through inter-microcomputer communication and uses it. In this embodiment, it is assumed that the first control unit 151 and the second control unit 251 each have their own set constant.

[0157] The setting constant comparison process on the main side is shown in Fig. 37, and the setting constant comparison process on the sub side is shown in Fig. 38. This process is performed, for example, at the time of an initial check. The process in Fig. 38 may be performed on the sub side, and the process in Fig. 37 on the main side. As shown in Fig. 37, in S901, the first control unit 151 receives a setting constant from the second control unit 251. The setting constant transmitted and received here may be the constant itself, or may be a calculated value such as an added value of multiple setting constants, or a check value such as CRC.

[0158] In S902, the first control unit 151 judges whether the set constants stored in the first control unit 151 match the set constants received from the second control unit 251. If it is judged that the set constants match (S902: YES), the process proceeds to S903, and normal cooperative drive control is performed for the two systems. If it is judged that the set constants do not match (S902: NO), abnormality measures are performed. The judgment result in S902 is also transmitted to the second control unit 251.

[0159] 38, in S951, the second control unit 251 transmits the setting constants to the first control unit 151 by inter-microcomputer communication. In S952, the second control unit 251 receives the comparison result of the setting constants from the first control unit 151 by inter-microcomputer communication.

[0160] In S953, the second control unit 251 judges whether the set constants match based on the comparison result obtained from the first control unit 151. If it is judged that the set constants match (S953: YES), the process proceeds to S954, and normal cooperative drive control is performed for the two systems. If it is judged that the set constants do not match (S953: NO), the process proceeds to S955, and abnormality measures are taken.

[0161] In this embodiment, when the control unit 151, 251 has a different value for the set constant used in current control from the value of another control unit, the control unit 151, 251 limits the voltage command value or stops the cooperative drive control. This makes it possible to prevent the deviation of the calculated value due to the difference in the set constant. In addition, the same effects as the above embodiment are achieved.

[0162] In the embodiment, the ECU 10 corresponds to a "rotating electric machine control device", the motor 80 corresponds to a "rotating electric machine", the first control unit 151 corresponds to a "main control unit", the second control unit 251 corresponds to a "sub-control unit", and the transmission unit 171 corresponds to a "transmission unit".

[0163] (Other embodiments) In the above embodiment, there are two control units. In other embodiments, there may be three or more control units. For example, in a main / sub configuration as in the first embodiment, one control unit is a main control unit and the remaining control units are sub-control units. Also, multiple control units do not have to be in a main / sub configuration.

[0164] In the above embodiment, in the cooperative drive control, the torque current command value is transmitted from the main control unit to the sub-control unit and shared between the systems. In other embodiments, the dq-axis current command value may be transmitted from the main control unit to the sub-controller and shared between the systems. Also, the torque command value before being converted into the torque current command value may be shared. In this case, the torque command value can be converted into a current command value and is regarded as a "current command value."

[0165] In the above embodiment, the cooperative drive control performs sum and difference control to control the current sum and current difference of two systems. In other embodiments, the cooperative drive control is not limited to sum and difference control as long as at least one parameter is shared between the systems. The details of the current control may be different from those in the above embodiment. In addition, when the system is configured with three or more systems, sum and difference control may be performed using any two systems.

[0166] In the above embodiment, two motor windings and two inverter units are provided. In other embodiments, the number of motor windings and inverter units may be one or three or more. The number of motor windings, inverter units, and controllers may be different, for example, one controller may be provided for multiple motor windings and inverter units, or multiple inverter units and motor windings may be provided for one controller.

[0167] In the above embodiment, the rotating electric machine is a three-phase brushless motor. In other embodiments, the rotating electric machine is not limited to a brushless motor. Furthermore, the rotating electric machine may be a so-called motor generator that also has a function of a generator. Furthermore, in the above embodiment, the rotating electric machine control device is applied to an electric power steering device. In other embodiments, the rotating electric machine control device may be applied to a device other than an electric power steering device that controls steering, such as a steer-by-wire device.

[0168] In the rotary electric machine control device according to any one of aspects 1 to 7, one of the control units may transmit a set constant, which is a constant used in a current control calculation, to the other of the control units.

[0169] The rotating electric machine control device may be configured as described in any one of aspects 1 to 8, wherein the control unit limits the voltage command value or stops the cooperative drive control when a value of a set constant, which is a constant used for current control, that the control unit has differs from a value of another control unit.

[0170] The control unit may be a rotating electric machine control device according to any one of aspects 1 to 9, which limits the voltage command value or stops the cooperative drive control when the current detection value or the sum of the current detection values ​​of multiple systems is greater than a current abnormality determination threshold.

[0171] The rotary electric machine control device may be configured as described in any one of aspects 1 to 10, wherein, when the voltage command value is greater than a voltage abnormality determination threshold, the control unit limits the voltage command value or stops the cooperative drive control.

[0172] The control unit may be a rotating electric machine control device described in any one of aspects 1 to 11, which limits the voltage command value or stops the cooperative drive control when the temperature of a substrate (20) on which an inverter circuit (120, 220) related to switching of the current supply to the motor windings is mounted is higher than an overheating determination threshold.

[0173] The control unit may be configured to compare a previous own system command value, which is a command value used in the previous current control calculation in the own system, with a previous other system command value, which is a command value used in the previous current control calculation in the other system, and limit the voltage command value or stop the cooperative drive control if the previous own system command value and the previous other system command value differ.

[0174] The current command value is a torque current command value calculated based on a torque command value, The control unit may be the rotating electric machine control device according to any one of aspects 1 to 12, which is configured to compare a d-axis current command value and a q-axis current command value used for current feedback control, which are calculated based on the torque current command value, with values ​​related to another system before current feedback control calculation, and limit the voltage command value or stop the cooperative drive control when at least one of the d-axis current command value and the q-axis current command value differs from the value related to the other system.

[0175] The rotating electric machine control device may be configured as described in any one of aspects 1 to 14, wherein the control unit includes a warning unit (565, 665) that limits the voltage command value or warns a driver when the cooperative drive control is stopped.

[0176] The control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by a computer. As described above, the present invention is not limited to the above embodiment, and can be implemented in various forms within the scope of the invention. [Explanation of symbols]

[0177] 10... ECU (rotating electric machine control unit) 20... Substrate 80 ···Motor (rotating electric machine) 120, 220... Inverter circuit 151 First control unit (control unit, main control unit) 171 Transmitter 251... Second control section (control section, sub-control section) 500, 600...Electrical control unit 565, 665...Warning section< / ca>

Claims

1. A rotating electric machine control device that controls driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current passed through the motor windings, and controls energization of the motor windings based on the voltage command value; and a plurality of control units (151, 251) that are provided for each of the motor windings and are capable of communicating with each other; A combination of the motor windings and the corresponding control units is defined as a system, and cooperative drive control can be performed in which at least one parameter is shared between the systems to perform energization control, If one of the control units (151) is a main control unit and the other control unit (251) is a sub-control unit, the sub-controller controls the energization of the motor windings using the current command value transmitted from the main controller; A rotating electric machine control device in which, if the main control unit is unable to calculate the current command value in time to update the stored data communicated to the sub-control unit, even if the main control unit is able to calculate the current command value in time before its own current control calculation begins, the main control unit controls the current flow to the motor windings using the same current command value as that sent to the sub-control unit rather than using the latest value.

2. 2. The rotating electric machine control device according to claim 1, wherein the main control unit has a transmitting unit (171) capable of storing the current command value to be transmitted to the sub-control unit, and controls the energization of the motor windings using the current command value stored in the transmitting unit.

3. 2. The rotating electric machine control device according to claim 1, wherein the main control unit has a transmitting unit (171) capable of storing the current command value to be transmitted to the sub-control unit, and when the current command value stored in the transmitting unit has not been updated, the previous value is held as the current command value and the current supply control of the motor windings is performed.

4. A rotating electric machine control device that controls driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current passed through the motor windings, and controls energization of the motor windings based on the voltage command value; and a plurality of control units (151, 251) that are provided for each of the motor windings and are capable of communicating with each other; A combination of the motor windings and the corresponding control units is defined as a system, and cooperative drive control can be performed in which at least one parameter is shared between the systems to perform energization control, If one of the control units (151) is a main control unit and the other control unit (251) is a sub-control unit, the sub-controller controls the energization of the motor windings using the current command value transmitted from the main controller; the main control unit controls the energization of the motor windings using the same current command value as that transmitted to the sub-control unit; the sub-controller sends back the current command value transmitted from the main controller to the main controller; The main control unit compares the current command value sent back from the sub-control unit with the current command value of its own system, and if the values differ, the rotating electric machine control device limits the voltage command value or stops the cooperative drive control.

5. 5. The rotating electric machine control device according to claim 4, wherein the main control unit has a transmitting unit (171) capable of storing the current command value to be transmitted to the sub-control unit, and controls the energization of the motor windings using the current command value stored in the transmitting unit.

6. 5. The rotating electric machine control device according to claim 4, wherein the main control unit has a transmitting unit (171) capable of storing the current command value to be transmitted to the sub-control unit, and when the current command value stored in the transmitting unit has not been updated, the previous value is held as the current command value and the current supply control of the motor windings is performed.

7. A rotating electric machine control device that controls driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current passed through the motor windings, and controls energization of the motor windings based on the voltage command value; and a plurality of control units (151, 251) that are provided for each of the motor windings and are capable of communicating with each other; A combination of the motor windings and the corresponding control units is defined as a system, and cooperative drive control can be performed in which at least one parameter is shared between the systems to perform energization control, the energization control unit, in current feedback control using a current sum and a current difference between the current detection value of the own system and the current detection value of the other system, limits upper and lower limits of a feedback control amount of a sum, which is a feedback calculation result based on the current sum, and a feedback control amount of a difference, which is a feedback calculation result based on the current difference; a sum limit value that limits the upper and lower limits of the sum feedback control amount and a difference limit value that limits the upper and lower limits of the difference feedback control amount are equal to each other.

8. A rotating electric machine control device that controls driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current passed through the motor windings, and controls energization of the motor windings based on the voltage command value; and a plurality of control units (151, 251) that are provided for each of the motor windings and are capable of communicating with each other; A combination of the motor windings and the corresponding control units is defined as a system, and cooperative drive control can be performed in which at least one parameter is shared between the systems to perform energization control, the energization control unit, in current feedback control using a current sum and a current difference between the current detection value of the own system and the current detection value of the other system, limits upper and lower limits of a feedback control amount of a sum, which is a feedback calculation result based on the current sum, and a feedback control amount of a difference, which is a feedback calculation result based on the current difference; When one of the sum feedback control amount and the difference feedback control amount is limited by a limit value, the current supply control unit holds the other of the sum feedback control amount and the difference feedback control amount at a previous value.

9. A rotating electric machine control device that controls driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current passed through the motor windings, and controls energization of the motor windings based on the voltage command value; and a plurality of control units (151, 251) that are provided for each of the motor windings and are capable of communicating with each other; A combination of the motor windings and the corresponding control units is defined as a system, and cooperative drive control can be performed in which at least one parameter is shared between the systems to perform energization control, the energization control unit, in current feedback control using a current sum and a current difference between the current detection value of the own system and the current detection value of the other system, limits upper and lower limits of a feedback control amount of a sum, which is a feedback calculation result based on the current sum, and a feedback control amount of a difference, which is a feedback calculation result based on the current difference; One of the control units transmits a set constant, which is a constant used in current control calculation, to the other control unit.

10. A rotating electric machine control device that controls driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current passed through the motor windings, and controls energization of the motor windings based on the voltage command value; and a plurality of control units (151, 251) that are provided for each of the motor windings and are capable of communicating with each other; A combination of the motor windings and the corresponding control units is defined as a system, and cooperative drive control can be performed in which at least one parameter is shared between the systems to perform energization control, the energization control unit, in current feedback control using a current sum and a current difference between the current detection value of the own system and the current detection value of the other system, limits upper and lower limits of a feedback control amount of a sum, which is a feedback calculation result based on the current sum, and a feedback control amount of a difference, which is a feedback calculation result based on the current difference; The control unit is a rotating electric machine control device that limits the voltage command value or stops the cooperative drive control when the value of a set constant, which is a constant used for current control, that the control unit has differs from the value of another control unit.

11. A rotating electric machine control device that controls driving of a rotating electric machine (80) having a plurality of sets of motor windings (180, 280), an energization control unit (500, 600) that calculates a voltage command value to be applied to the motor windings based on a current detection value and a current command value of a current passed through the motor windings, and controls energization of the motor windings based on the voltage command value; and a plurality of control units (151, 251) that are provided for each of the motor windings and are capable of communicating with each other; A combination of the motor windings and the corresponding control units is defined as a system, and cooperative drive control can be performed in which at least one parameter is shared between the systems to perform energization control, the energization control unit, in current feedback control using a current sum and a current difference between the current detection value of the own system and the current detection value of the other system, limits upper and lower limits of a feedback control amount of a sum, which is a feedback calculation result based on the current sum, and a feedback control amount of a difference, which is a feedback calculation result based on the current difference; The control unit compares a previous own system command value, which is a command value used in the previous current control calculation in the own system, with a previous other system command value, which is a command value used in the previous current control calculation in the other system, and if the previous own system command value and the previous other system command value differ, the rotating electric machine control device limits the voltage command value or stops the cooperative drive control.

12. The rotating electric machine control device according to any one of claims 1 to 11, wherein the control unit limits the voltage command value or stops the cooperative drive control when the current detection value or the sum of the current detection values of multiple systems is greater than a current abnormality determination threshold.

13. The rotating electric machine control device according to any one of claims 1 to 11, wherein the control unit limits the voltage command value or stops the cooperative drive control when the voltage command value is greater than a voltage abnormality determination threshold value.

14. The control unit of any one of claims 1 to 11, wherein the control unit limits the voltage command value or stops the cooperative drive control when the temperature of a substrate (20) on which an inverter circuit (120, 220) related to switching the current supply to the motor windings is mounted is higher than an overheat determination threshold.

15. The current command value is a torque current command value calculated based on a torque command value, The rotating electric machine control device according to any one of claims 1 to 11, wherein the control unit compares a d-axis current command value and a q-axis current command value, which are calculated based on the torque current command value and used for current feedback control, with values related to another system before current feedback control calculation, and when at least one of the d-axis current command value and the q-axis current command value differs from the value related to the other system, limits the voltage command value or stops the cooperative drive control.

16. The rotating electric machine control device according to any one of claims 1 to 11, wherein the control unit has a warning unit (565, 665) that warns a driver when limiting the voltage command value or stopping the cooperative drive control.

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