Motor Control Device

Abstract

To provide a motor control device enabling a motor to be driven independently of detection result of a current detection circuit.SOLUTION: A microcomputer drives and controls a motor via an inverter circuit that converts power source voltage of a battery into a drive voltage for the motor. The microcomputer has a second AD converter for measuring the power source voltage. In a step S12, the microcomputer presumes whether or not there are current detection failures in a current detection circuit by using a detection signal. In a case where it is presumed that there are current detection failures at steps S14 and S16, the microcomputer determines whether or not the drive control of the motor is possible by using the measurement value of the power source voltage measured by the second AD converter. In steps S18 to S28, the microcomputer stops the drive control in a case where it is determined that the drive control is impossible, and estimates a current value from the measurement value and continues the drive control while using the estimated current value in a case where it is determined that the drive control is possible.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a motor control device. [Background technology]

[0002] One example of a conventional motor control device is the technology disclosed in Patent Document 1. The motor control device includes a microcomputer, an inverter circuit, a position detection circuit, a current detection circuit, and the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-28943 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, although not a conventional technique, it is conceivable that a motor control device uses the output of a current detection circuit to determine whether a microcomputer should prevent overcurrent or detect a circuit breakage. A failure in the current detection circuit may cause the microcomputer to recognize that the current value is fixed at a constant value such as 0A or the maximum value. In this case, the microcomputer may not be able to drive the motor using the protection function even though there is no abnormality in the motor, or may not be able to activate the protection function when an abnormality occurs, and therefore may not be able to drive the motor appropriately.

[0005] One disclosed object is to provide a motor control device that can drive a motor regardless of the detection result of a current detection circuit. [Means for solving the problem]

[0006] The motor control device disclosed herein comprises: The motor is driven and controlled via a drive circuit (20) that converts a power supply voltage of a DC power supply (300) into a drive voltage for the motor (200), and the motor is provided with a control device (10) having a voltage measuring circuit (14) that measures the power supply voltage; The control device includes: A detection signal correlating to a current value is obtained from a current detection circuit (30, 80) which outputs a current value flowing through a winding of the motor when a drive voltage is applied to the motor, A failure estimation step (S12) of estimating a current detection failure in the current detection circuit using the detection signal; If it is estimated that the current detection is defective, a drive determination step (S14, S16) is performed to determine whether or not the drive control of the motor is possible using the power supply voltage measured by the voltage measurement circuit; and a drive control step (S18 to S28) of stopping the drive control when it is determined in the drive determination step that the drive control is not possible, and estimating a current value from a measurement value when it is determined that the drive control is possible, and continuing the drive control while using the estimated current value. And, The control device controls the drive circuit to convert the power supply voltage into a drive voltage that is repeatedly turned on and off, thereby controlling the drive of the motor. In the drive determination step, a voltage drop in the power supply voltage is measured from the measurement value during the period when the drive voltage is on by the voltage measurement circuit, and if there is no voltage drop, it is determined that the motor cannot be driven, and if there is a voltage drop, it is determined that the motor can be driven. It is characterized by:

[0007] According to the motor control device disclosed herein, if a current detection failure is estimated, the measured value of the power supply voltage is used to determine whether or not drive control of the motor is possible. If the motor control device determines that drive control is possible, the motor control device continues drive control of the motor while using a current value estimated from the measured value of the power supply voltage. Therefore, the motor control device can drive the motor regardless of the detection result of the current detection circuit.

[0008] Another motor control device disclosed herein includes: The motor is driven and controlled via a drive circuit (20) that converts a power supply voltage of a DC power supply (300) into a drive voltage for the motor (200), and the motor is provided with a control device (10) having a voltage measuring circuit (14) that measures the power supply voltage; The control device includes: A detection signal correlating to a current value is obtained from a current detection circuit (30, 80) which outputs a current value flowing through a winding of the motor when a drive voltage is applied to the motor, A failure estimation step (S12) of estimating a current detection failure in the current detection circuit using the detection signal; If it is estimated that the current detection is defective, a drive determination step (S14, S16) is performed to determine whether or not the drive control of the motor is possible using the power supply voltage measured by the voltage measurement circuit; and a drive control step (S18 to S28) of stopping the drive control when it is determined in the drive determination step that the drive control is not possible, and estimating a current value from a measured value when it is determined that the drive control is possible, and continuing the drive control while using the estimated current value, The control device records a correlation between the detection signal and the measurement value on condition that the current detection is not estimated to be defective in the defect estimation step; In the drive control step, a correlation is used when estimating a current value from a measured value. It is characterized by:

[0009] Another motor control device disclosed herein includes: The motor is driven and controlled via a drive circuit (20) that converts a power supply voltage of a DC power supply (300) into a drive voltage for the motor (200), and the motor is provided with a control device (10) having a voltage measuring circuit (14) that measures the power supply voltage; The control device includes: A detection signal correlating to a current value is obtained from a current detection circuit (30, 80) which outputs a current value flowing through a winding of the motor when a drive voltage is applied to the motor, A failure estimation step (S12) of estimating a current detection failure in the current detection circuit using the detection signal; If it is estimated that the current detection is defective, a drive determination step (S14, S16) is performed to determine whether or not the drive control of the motor is possible using the power supply voltage measured by the voltage measurement circuit; and a drive control step (S18 to S28) of stopping the drive control when it is determined in the drive determination step that the drive control is not possible, and estimating a current value from a measured value when it is determined that the drive control is possible, and continuing the drive control while using the estimated current value, a filter including a coil (40), an input side capacitor (51) having one terminal connected between the DC power supply and the coil, and an output side capacitor (52) having one terminal connected between the control device and the coil, in a power supply path between the DC power supply and the control device; The voltage measurement circuit measures a filtered voltage input through the filter as a power supply voltage; The control device simultaneously measures the filtered voltage by the voltage measurement circuit and the power supply terminal voltage, which is the voltage at the power supply terminal (72) to which the DC power supply is connected, and uses the filtered voltage and the power supply terminal voltage minus the voltage fluctuation of the DC power supply as the measured value. It is characterized by:

[0010] The aspects disclosed in this specification adopt different technical means to achieve their respective objectives. The claims and the parenthetical symbols described in this section are illustrative of the corresponding relationship with the embodiments described below, and are not intended to limit the technical scope. The objectives, features, and effects disclosed in this specification will become clearer by referring to the following detailed description and the attached drawings. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a block diagram showing a schematic configuration of a controller in the first embodiment. [Diagram 2] 1 is a circuit diagram showing a schematic configuration of a current detection circuit according to a first embodiment. [Diagram 3] 4 is a flowchart showing a processing operation of a microcomputer in the first embodiment. [Figure 4] 5A to 5C are diagrams showing various waveforms when the motor is driven in the first embodiment. [Diagram 5] 5A to 5C are various waveform diagrams illustrating a case where current detection in the current detection circuit in the first embodiment is defective. [Figure 6] FIG. 11 is a block diagram showing a schematic configuration of a controller in a second embodiment. [Figure 7] 13 is a flowchart showing a processing operation of a microcomputer in the third embodiment. [Figure 8] 13 is a graph showing the relationship between the shunt current increase amount and the filtered voltage drop amount in the third embodiment. [Figure 9] 13 is a graph showing the relationship between the shunt current and the filtered voltage in the third embodiment. [Figure 10] FIG. 13 is a block diagram showing a schematic configuration of a controller in a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, several embodiments for carrying out the present disclosure will be described with reference to the drawings. In each embodiment, the same reference numerals may be used to designate parts corresponding to matters described in the preceding embodiment, and duplicated descriptions may be omitted. In each embodiment, when only a part of the configuration is described, the other parts of the configuration may be applied by referring to the other embodiment described previously.

[0013] (First embodiment) The controller 100 of this embodiment will be described with reference to Figs. 1 to 5. In this embodiment, a motor control device is applied to the controller 100. The controller 100 is a device that controls a motor 200. The controller 100 can be applied to a device that controls the motor 200 of a fuel pump, for example. The fuel pump is a device for supplying fuel to an engine in a vehicle equipped with an engine. Therefore, the controller 100 uses the motor 200 to control the supply of fuel to the engine.

[0014] The controller 100 also controls the motor 200 without using a Hall element. That is, the controller 100 is a device that drives the motor 200 in a sensorless manner. For sensorless driving, reference can be made to Japanese Patent Application Laid-Open No. 2017-28943. The controller 100 also controls the motor 200 by so-called square wave sensorless control.

[0015] In FIG. 1, the microcomputer 10 is indicated as an MCU, the processing device 11 as a PSU, the memory device 12 as an MEU, the first AD converter 13 as an ADC1, the second AD converter 14 as an ADC2, and the timer 15 as TIM.

[0016] <Overall composition> First, the overall configuration including the controller 100 and peripheral components will be described with reference to Fig. 1. The controller 100 includes at least a microcomputer 10. However, in the present embodiment, as an example, a controller 100 including other components in addition to the microcomputer 10 is adopted. The other components include an inverter circuit 20, a shunt resistor 30, a coil 40, capacitors 51-53, position detection circuits 60u, 60v, 60w, terminals 71-73, a circuit section 80, etc.

[0017] The controller 100 is electrically connected to the motor 200, which is the object to be controlled, via a motor terminal 71. The controller 100 is electrically connected to a battery 300 via a power supply terminal 72. The controller 100 is also electrically connected to ground via a ground terminal 73.

[0018] The controller 100 may be configured integrally with the motor 200. A structure in which the controller 100 and the motor 200 are integrated may be called a motor unit. In the motor unit, for example, the motor 200 is attached to a case that houses the controller 100. However, the controller 100 is not limited to this, and may be provided separately from the motor 200.

[0019] <Inverter circuit> The inverter circuit 20 includes upper and lower arm circuits 20u, 20v, and 20w. The upper and lower arm circuit 20u includes switching elements 21u and 22u. The switching elements 21u and 22u are electrically connected to a u-phase coil (winding) of the motor 200. The upper and lower arm circuit 20v includes switching elements 21v and 22v. The switching elements 21v and 22v are electrically connected to a v-phase coil of the motor 200. The upper and lower arm circuit 20w includes switching elements 21w and 22w. The switching elements 21w and 22w are electrically connected to a w-phase coil of the motor 200.

[0020] In the inverter circuit 20, the microcomputer 10 controls the on / off of the switching elements 21u, 21v, 21w, 22u, 22v, and 22w. In this way, the inverter circuit 20 converts the power supply voltage of the battery 300 into a drive voltage (motor voltage Vm) for the motor 200. In other words, the inverter circuit 20 generates the motor voltage Vm, which is a constant cycle of on and off pulse trains, from the power supply voltage, which is a constant voltage. As shown in FIG. 4, the inverter circuit 20 applies the motor voltage Vm to the motor 200. The microcomputer 10 can change the on time width of the motor voltage Vm by the on / off control. The inverter circuit 20 corresponds to a drive circuit.

[0021] <Current detection circuit> The controller 100 includes, as a current detection circuit, a shunt resistor 30 and a circuit section 80. As shown in Fig. 2, the circuit section 80 includes resistors 81 and 82, a capacitor 83, an amplifier 84, a detection line 85 connecting these, and the like.

[0022] The current detection circuit detects the current (motor current) flowing through the motor 200 using the shunt resistor 30. That is, the current detection circuit detects the shunt current Is flowing through the shunt resistor 30 as the motor current. The current detection circuit outputs to the microcomputer 10 the value of a current flowing through each coil of the motor 200 when a drive voltage is applied to the motor 200. The current value is input to the first AD converter 13 of the microcomputer 10. The current value can be said to be the current value of the motor current or the shunt current Is.

[0023] <Position detection circuit> The position detection circuits 60u, 60v, and 60w each include a comparator. The microcomputer 10 detects the rotation speed and position (rotational position) of the rotor of the motor 200 based on an induced voltage generated by the rotor's rotation. The induced voltage is a sinusoidal analog signal that changes in response to the rotation of the rotor. In this embodiment, the position detection circuits 60u, 60v, and 60w convert the induced voltage into a square-wave pulse signal and input it to the microcomputer 10.

[0024] <Motor> The motor 200 includes a stator, a rotor magnet, etc. In addition to these, the motor 200 also includes a rotor, a shaft, etc. The motor 200 is a brushless three-phase motor.

[0025] <Battery and power supply paths> The battery 300 supplies a power supply voltage to the microcomputer 10 and the inverter circuit 20. The microcomputer 10 is electrically connected to a power supply path (VB line) between the battery 300 and the inverter circuit 20. A coil 40 is provided in the power supply path. In addition, one terminal of each of the capacitors 51 to 53 is electrically connected to the power supply path.

[0026] More specifically, one terminal of capacitor 51 is connected between battery 300 and coil 40. Capacitor 51 corresponds to an input side capacitor. One terminal of capacitor 52 is connected between microcomputer 10 and coil 40. Capacitor 52 corresponds to an output side capacitor. Coil 40 and capacitors 51 and 52 configure a π type filter. The π type filter corresponds to a filter.

[0027] The other terminal of each of the capacitors 51 to 53 is electrically connected to a ground path. The power supply path is a wiring electrically connected to the power supply terminal 72. The ground path is a wiring electrically connected to the ground terminal 73. The battery 300 corresponds to a DC power supply.

[0028] <Microcomputer> The microcomputer 10 includes a processing device 11, a memory device 12, a first AD converter 13, a second AD converter 14, a timer 15, and the like. In addition to these, the microcomputer 10 may also include an input / output interface and a bus connecting these. The microcomputer 10 can also be called a microcomputer. The microcomputer 10 corresponds to a control device.

[0029] The microcomputer 10 is electrically connected to the inverter circuit 20, the position detection circuits 60u, 60v, and 60w, the battery 300, and the current detection circuit. The microcomputer 10 may also be electrically connected to a higher-level control device (not shown). The microcomputer 10 is supplied with power from the battery 300 and becomes operable.

[0030] The processing device 11 performs various arithmetic processing by executing programs stored in the memory device 12. When performing the arithmetic processing, the processing device 11 can also use various values ​​temporarily stored in the memory device 12. The processing device 11 performs the arithmetic processing, and drives and controls the motor 200 via the inverter circuit 20. The processing device 11 can employ a CPU or the like.

[0031] More specifically, the processing device 11 calculates the position of the rotor from the signals input from the position detection circuits 60u, 60v, and 60w. Then, the processing device 11 calculates the duty of PWM control related to the switching control of the inverter circuit 20 based on the calculated rotor rotation speed and a signal (target rotation speed) input from a higher-level control device (not shown). The processing device 11 PWM controls the inverter circuit 20 to drive the motor 200. That is, the microcomputer 10 controls the inverter circuit 20 so as to convert the power supply voltage into a drive voltage that repeats on and off, thereby driving and controlling the motor 200. It can also be said that the microcomputer 10 PWM drives the motor 200. PWM is an abbreviation for Pulse Width Modulation.

[0032] The memory device 12 includes a non-volatile memory in which a program is stored, a volatile memory in which the calculation results of the processing device 11, the output values ​​(AD values) of the AD converters 13 and 14, and the like are stored.

[0033] The first AD converter 13 receives the current value output from the current detection circuit. The first AD converter 13 performs AD conversion on the current value and outputs the AD value. This AD value is the result of calculating the current value input to the first AD converter 13, and is also referred to as the current calculation result Ir. The current calculation result Ir correlates with the current value and corresponds to a detection signal. The current calculation result Ir is also referred to as the current AD value.

[0034] The processing device 11 is configured to be able to refer to the current calculation result Ir. It can also be said that the processing device 11 acquires the current calculation result Ir. The processing device 11 uses the current calculation result Ir to perform abnormality detection such as overcurrent prevention and circuit breakage detection. The processing device 11 also uses the current calculation result Ir to estimate whether or not the current detection in the current detection circuit is defective. Furthermore, the processing device 11 may use the current calculation result Ir to perform abnormality control such as stopping the drive control of the motor 200.

[0035] The second AD converter 14 is electrically connected to the battery 300 (power supply path). The second AD converter 14 measures the power supply voltage of the battery 300. The second AD converter 14 performs AD conversion on the power supply voltage and outputs an AD value. The AD value of the second AD converter 14 is also referred to as a voltage AD value. The voltage AD value corresponds to a measured value of the power supply voltage measured by the second AD converter 14. The processing device 11 is configured to be able to refer to the voltage AD value (measured value). In this embodiment, as an example, the second AD converter 14 is used that measures a filtered voltage Vfa inputted as the power supply voltage via a π-type filter. The second AD converter 14 corresponds to a voltage measurement circuit. Hereinafter, the measured value is also referred to as a filtered voltage Vfa.

[0036] When the current detection in the current detection circuit is not successful, the processing device 11 estimates the motor current from the measured value (current estimated value). When the current detection in the current detection circuit is not successful, the processing device 11 uses the current estimated value instead of the current calculation result Ir to perform anomaly detection and abnormality control. This will be described in detail later.

[0037] The timer 15 measures a preset time. The timer 15 is set with a timing for measuring the filtered voltage Vfa by the second AD converter 14. The second AD converter 14 measures the filtered voltage Vfa when the timer 15 has measured the time up to the timing set by the timer 15. The timing for measuring the filtered voltage Vfa can be rephrased as the timing for acquiring the voltage AD value.

[0038] <Processing Operation> Here, the processing operation of the microcomputer 10 will be described with reference to Fig. 3 to Fig. 5. The microcomputer 10 (processing device 11) executes the processing shown in the flowchart of Fig. 3 at predetermined time intervals. The microcomputer 10 executes the processing shown in the flowchart of Fig. 3 during PWM driving. The processing shown in the flowchart of Fig. 3 is mainly executed by the processing device 11 of the microcomputer 10.

[0039] In step S10, detection is performed by the ADC1. The processing device 11 performs detection by the first AD converter 13. That is, the processing device 11 obtains the current calculation result Ir from the first AD converter 13. It can also be said that the microcomputer 10 detects the current flowing through the motor 200 by using the shunt resistor 30.

[0040] In step S12, it is determined whether or not there is an abnormality (failure estimation step). The processing device 11 uses the current calculation result Ir to determine whether or not there is an abnormality in the current detection circuit. For example, as shown at timing t11 in FIG. 5, the processing device 11 determines that there is an abnormality when the current value indicated by the current calculation result Ir continues to be 0 A or the same value despite fluctuations in the output duty or motor rotation speed. It can also be said that the processing device 11 determines that there is an abnormality when the current value indicated by the current calculation result Ir continues to be 0 A or the same value despite application of a drive voltage to the motor 200. Furthermore, the processing device 11 determines that there is an abnormality when the current value indicated by the current calculation result Ir does not become 0 A despite the stop of drive control of the motor 200. Note that the method of determining that there is an abnormality in the current detection circuit using the current calculation result Ir is not limited to the above method.

[0041] However, even if the current value indicated by the current calculation result Ir indicates an abnormality in the current detection circuit, this does not necessarily mean that the current detection circuit is abnormal. In other words, the current value indicated by the current calculation result Ir may indicate an abnormality in the current detection circuit due to an abnormality on the motor 200 side. Therefore, in this case, the processing device 11 does not identify that the current detection circuit is abnormal, but rather estimates that the current detection in the current detection circuit is defective. Note that abnormalities on the motor 200 side also include breaks in the current path of the motor current.

[0042] In step S14, the setting of ADC2 is changed (driving determination step). The processing device 11 sets the timing for measuring the filtered voltage Vfa by the second AD converter 14 in the timer 15. The timer 15 is set to measure the filtered voltage Vfa once during the ON period of the motor voltage Vm, for example, in a state where the current detection in the current detection circuit is not estimated to be poor. However, when the current detection in the current detection circuit is estimated to be poor, the voltage drop ΔV of the filtered voltage Vfa is measured. Therefore, the processing device 11 sets the timing to measure the filtered voltage Vfa twice during one PWM, as shown by the measurement points P1 and P2 in FIG. 4. That is, the processing device 11 sets the timing to measure the filtered voltage Vfa twice during the ON period of the motor voltage Vm.

[0043] For example, it is preferable to set measurement point P1 at the point in time when the ringing has subsided after the rising edge of the PWM, while it is preferable to set measurement point P2 at a point in time several microseconds before the falling edge of the PWM.

[0044] When the processing device 11 estimates that the current detection is defective, it temporarily stops driving the motor 200 and performs step S14. Then, when step S14 ends, the processing device 11 may resume driving the motor 200. In this case, the processing device 11 performs energization of any energized phase after limiting the output duty to a certain extent. In other words, as described in step S16, the processing device 11 adjusts the ON period of the motor voltage Vm so that the voltage drop ΔV can be measured. This allows the processing device 11 to appropriately measure the voltage drop ΔV. However, when the processing device 11 estimates that the current detection is defective, it may perform step S14 without stopping the driving of the motor 200.

[0045] Furthermore, the timer 15 may be set to always measure the filtered voltage Vfa twice during one PWM. In this case, step S14 and step S28, which will be described later, may be omitted.

[0046] In step S16, it is determined whether or not the motor 200 can be driven (drive determination step). The processing device 11 determines whether or not the motor 200 can be driven based on the measured values ​​measured at the measurement points P1 and P2 by the second AD converter 14. In other words, the processing device 11 determines whether or not the motor 200 is abnormal.

[0047] More specifically, the second AD converter 14 outputs a measurement value at a measurement point P1 at timing t1 and at a measurement point P2 at timing t2 based on the aging result of the timer 15. The processing device 11 acquires a measurement value at the measurement point P1 and a measurement value at the measurement point P2. The processing device 11 measures a voltage drop ΔV in the filtered voltage Vfa from the measurement values ​​measured at the measurement points P1 and P2. At this time, the processing device 11 performs current flow for any current-carrying phase after limiting the output duty to a certain extent, and measures the voltage drop ΔV at the measurement points P1 and P2.

[0048] If no voltage drop ΔV is observed, it can be determined that no current is flowing through the motor 200, and that there is a fault such as a broken wire on the side of the motor 200. Therefore, if there is no voltage drop ΔV, the processing device 11 determines that drive control of the motor 200 is not possible, and proceeds to step S26.

[0049] On the other hand, if an expected voltage drop ΔV is observed, it is determined that there is a failure in the current detection circuit, such as a break in the detection line 85. For example, as shown at timing t11 in Fig. 5, if the shunt current Is flows even though the current calculation result Ir does not change, the expected voltage drop ΔV will be observed. Therefore, the processing device 11 can determine that there is a failure in the current detection circuit, such as a break in the detection line 85.

[0050] If there is a voltage drop ΔV, the processor 11 determines that drive control of the motor 200 is possible, and proceeds to step S18. Note that in step S16, if the voltage drop ΔV reaches a predetermined value, it determines that the expected voltage drop ΔV is observed, and if the voltage drop ΔV does not reach the predetermined value, it determines that the voltage drop ΔV is not observed.

[0051] Incidentally, when a π filter is not provided, the voltage drop ΔV in the power supply voltage may be unlikely to occur or the voltage drop ΔV may be too large, depending on the power supply capacity of the battery 300, etc. On the other hand, when a π filter is provided, the voltage drop ΔV occurs in the filtered voltage Vfa in response to the current flowing through the motor 200, regardless of the power supply capacity of the battery 300, etc. Therefore, the processing device 11 can measure the voltage drop ΔV with higher accuracy than when a π filter is not provided.

[0052] Here, a case will be described in which the processing device 11 has determined that it is possible to control the drive of the motor 200. That is, a case will be described in which it has determined that it is possible to control the drive of the motor 200 even though the current detection is not good.

[0053] In step S18, PI control is performed (drive control step). The processing device 11 calculates (calculates) the duty of PWM control related to the switching control of the inverter circuit 20 based on the rotation speed (actual rotation speed) of the rotor calculated as described above and the target rotation speed from the upper control device. The duty here is a temporary value.

[0054] If the determination in step S16 is YES, the processor 11 may perform step S18 after performing startup control of the motor 200. The magnitude of the voltage drop ΔV is proportional to the motor current. Therefore, the processor 11 performs startup control while adjusting the output duty so that the magnitude of the voltage drop ΔV is equal to or smaller than a certain value.

[0055] In step S20, it is determined whether or not the voltage drop ΔV≧xV (drive control step). If the processor 11 determines that the voltage drop ΔV≧xV, the process proceeds to step S22, and if it does not determine that the voltage drop ΔV≧xV, the process proceeds to step S24.

[0056] In step S22, the duty is set within the limits (drive control step). If the output duty becomes larger than a certain level, it becomes impossible to measure the voltage drop ΔV of the filtered voltage Vfa. Therefore, the processing device 11 sets the duty within the limits so that the voltage drop ΔV of the filtered voltage Vfa can be measured. In this way, when the processing device 11 determines in step S16 that drive control is possible and executes drive control of the motor 200, it adjusts the on-period of the motor voltage Vm so that the voltage drop ΔV can be measured.

[0057] In step S24, the duty is determined (drive control step). The processing device 11 determines the duty for sensorless driving. If the processing device 11 judges YES in step S20, it determines the duty to be the one set in step S22. If the processing device 11 judges NO in step S20, it determines the duty to be the one set in step S18. The duty is determined. The processing device 11 executes the flowchart of FIG. 3, for example, every 1 ms. Therefore, the duty in step S24 is updated every 1 ms.

[0058] The processing device 11 drives the motor 200 by PWM controlling the inverter circuit 20 with the duty determined in step S24. At this time, the processing device 11 estimates that the current detection in the current detection circuit is defective. Therefore, the processing device 11 performs anomaly detection and abnormality control using a current estimated value estimated from the filtered voltage Vfa measured by the second AD converter 14 instead of the current calculation result Ir. In other words, the processing device 11 performs safe motor drive by estimating the current value and feedback of the duty. It can also be said that the processing device 11 drives and controls the motor 200 in the evacuation travel mode. The processing device 11 may also drive and control the motor 200 by voltage feedback.

[0059] Next, a case where the processing device 11 determines that drive control of the motor 200 is not possible will be described. In step S26, drive is stopped (drive control step). The processing device 11 stops the drive of the motor 200. This prevents the processing device 11 from controlling the inverter circuit 20 even though drive control of the motor 200 is not possible when it is determined that drive control of the motor 200 is not possible. Then, in step S28, the setting of ADC2 is restored (drive control step). That is, the processing device 11 restores the timing set in the timer 15 in step S14. Note that step S28 can be omitted.

[0060] <Effects> According to the controller 100 disclosed herein, when it is estimated that the current detection is defective, it is determined whether or not the drive control of the motor 200 is possible, using the measured value of the filtered voltage Vfa. Then, when it is determined that the drive control is possible, the controller 100 continues the drive control of the motor 200 while using the current value estimated from the measured value of the filtered voltage Vfa. Therefore, the controller 100 can drive the motor 200 regardless of the detection result of the current detection circuit. In other words, the controller 100 can drive the motor 200 while performing anomaly detection and anomaly control, regardless of the detection result of the current detection circuit.

[0061] Furthermore, when the controller 100 is capable of controlling the drive of the motor 200, it can be said that the controller 100 can control the drive of the motor 200 even if the current detection by the current detection circuit is poor. Therefore, when the controller 100 is capable of controlling the drive of the motor 200, the controller 100 can suppress the stop of the fuel supply to the engine by the fuel pump. Therefore, the controller 100 can continue the fuel supply to the engine and can bring the vehicle into a state in which it can be driven.

[0062] The microcomputer 10 may measure the power supply terminal voltage of the power supply terminal 72. The microcomputer 10 measures the power supply terminal voltage using an AD converter (not shown) in the same manner as the filtered voltage Vfa. The AD converter is connected to the power supply path between the power supply terminal 72 and the coil 40.

[0063] Therefore, the processing device 11 obtains a measured value of the power supply terminal voltage (hereinafter simply referred to as the power supply terminal voltage) from the AD converter. At this time, the second AD converter 14 and the like are set in the microcomputer 10 so that the filtered voltage Vfa and the power supply terminal voltage are measured simultaneously.

[0064] The processing device 11 uses, as a measurement value, the filtered voltage Vfa and the power supply terminal voltage minus the voltage fluctuation of the battery 300. This allows the processing device 11 to suppress an error in the voltage drop ΔV caused by the voltage fluctuation of the battery 300.

[0065] The above describes preferred embodiments of the present disclosure. However, the present disclosure is not limited to the above embodiments, and various modifications are possible within the scope of the present disclosure. Hereinafter, the second to fourth embodiments will be described as other aspects of the present disclosure. The above embodiments and the second to fourth embodiments can be implemented independently, but can also be implemented in appropriate combination. The present disclosure is not limited to the combinations shown in the embodiments, and can be implemented in various combinations.

[0066] Second embodiment A controller 110 of the second embodiment will be described with reference to Fig. 6. Here, differences between the controller 110 and the controller 100 will be mainly described. The same components of the controller 110 as those of the controller 100 are given the same reference numerals. The controller 110 differs from the controller 100 in that it includes attenuators 91 and 92.

[0067] The microcomputer 10 is applied with the filtered voltage Vfa via the attenuator 91. The processing device 11 acquires a measurement value of the filtered voltage Vfa applied via the attenuator 91. Thus, the processing device 11 can acquire a measurement value of the filtered voltage Vfa from which noise has been removed by the attenuator 91. An input filter may be used in addition to the attenuator 91. The attenuator 91 and the input filter correspond to a noise removal device. The processing device 11 may use a value from which noise has been removed by a software filter as a measurement value.

[0068] In the microcomputer 10, an AD converter that measures the power supply terminal voltage is electrically connected to the power supply terminal 72 via an attenuator 92. In this case, the AD converter measures the filtered voltage Vfa applied via the attenuator 92.

[0069] The controller 110 can achieve the same effects as the controller 100. In addition, since the controller 110 (processing device 11) includes the attenuator 91, it is possible to acquire a measurement value of the filtered voltage Vfa without being influenced by an error in the voltage drop ΔV caused by the voltage fluctuation of the battery 300.

[0070] Third embodiment The controller of the third embodiment will be described with reference to Figs. 7 to 9. Here, differences from the controller 100 will be mainly described. The controller of this embodiment has the same configuration as the controller 100. Therefore, in this embodiment, it will be referred to as the controller 100.

[0071] When the microcomputer 10 (processing device 11) starts driving control of the motor 200, it performs the process shown in the flowchart of Fig. 7 on condition that it is not determined in step S12 that the current detection circuit is abnormal. It can also be said that the microcomputer 10 executes steps S30 to S36 at predetermined time intervals on condition that it is not determined that the current detection circuit is abnormal.

[0072] In step S30, the filtered voltage Vfa at the measurement point P1 and the shunt current Is corresponding to the measurement point P1 are measured. Measuring the filtered voltage Vfa is equivalent to obtaining a measurement value from the second AD converter 14. Measuring the shunt current Is is equivalent to obtaining a current calculation result Ir from the first AD converter 13. Thus, the processing device 11 obtains the measurement value at the measurement point P1 and the current calculation result Ir.

[0073] In this case, it is assumed that the current detection circuit is normal. Therefore, the shunt current Is and the current calculation result Ir are values ​​that are correlated with each other.

[0074] In step S32, the filtered voltage Vfa at the measurement point P2 and the shunt current Is corresponding to the measurement point P2 are measured. The processing device 11 acquires the measurement value at the measurement point P2 and the current calculation result Ir, similar to step S30.

[0075] In step S34, the amount of drop in the filtered voltage Vfa (voltage drop ΔV) and the amount of increase in the shunt current Is are plotted. That is, the processing device 11 calculates the amount of drop in the filtered voltage Vfa by subtracting the measurement value at the measurement point P2 from the measurement value at the measurement point P1. The processing device 11 calculates the amount of increase in the shunt current Is by subtracting the current calculation result Ir corresponding to the measurement point P1 from the current calculation result Ir corresponding to the measurement point P2. Then, the processing device 11 stores the amount of drop in the filtered voltage Vfa and the amount of increase in the shunt current Is in the memory device 12. The processing device 11 repeatedly executes steps S30 to S34 to store the correlation between the amount of drop and the amount of increase as shown in FIG. 8.

[0076] In step S36, the filtered voltage Vfa and shunt current Is at the measurement point P1 or the measurement point P2 are plotted. Here, the measurement point P1 is used as an example. The processing device 11 stores the measurement value at the measurement point P1 and the current calculation result Ir in the memory device 12. The processing device 11 repeatedly executes steps S30 to S36 to store the correlation between the filtered voltage Vfa and the shunt current Is as shown in FIG. 9.

[0077] In this manner, the processing device 11 records the correlation (correlation data) between the filtered voltage Vfa and the shunt current Is on the condition that the current detection circuit is not determined to be abnormal in step S12. In other words, the processing device 11 stores in the memory device 12 a plurality of filtered voltages Vfa and a plurality of shunt currents Is correlated with each filtered voltage Vfa in association with each other.

[0078] Then, the processing device 11 uses the correlation data when determining YES in step S16 and controlling the drive of the motor 200 (drive control step). That is, when the processing device 11 measures the filtered voltage Vfa, it selects a shunt current Is associated with the measured value from the correlation data. The processing device 11 uses the selected shunt current Is as an estimated current value. Therefore, the processing device 11 controls the drive of the motor 200 while using the selected shunt current Is.

[0079] The controller 100 can achieve the same effects as those of the first and second embodiments. Furthermore, the controller 100 can obtain the shunt current Is with high accuracy from the measured value of the filtered voltage Vfa.

[0080] (Fourth embodiment) A controller 120 according to the fourth embodiment will be described with reference to Fig. 10. Here, differences between the controller 120 and the controller 100 will be mainly described. The same components of the controller 120 as those of the controller 100 are given the same reference numerals. The controller 120 differs from the controller 100 in that it does not include a current detection circuit.

[0081] The controller 120 (microcomputer 10), like the controller 100, drives and controls the motor 200 by square wave sensorless control. The controller 120 also drives and controls the motor 200 while using a measured value of the power supply voltage (such as the filtered voltage Vfa) measured by the second AD converter 14. That is, the microcomputer 10 estimates the motor current from the measured value, and performs anomaly detection and abnormality control using the current estimate value.

[0082] Therefore, the controller 120 can drive the motor 200 regardless of the detection result of the current detection circuit. Also, the controller 120 does not need to include a current detection circuit. Therefore, the controller 120 can be made less expensive than the controller 100.

[0083] However, the motor current is more accurate when detected by a current detection circuit than when estimated from a measured value. Therefore, this embodiment is preferably implemented in combination with the third embodiment. This allows the controller 120 to drive the motor 200 with precision regardless of the detection result of the current detection circuit.

[0084] Although the present disclosure has been described based on the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also encompasses various modifications and modifications within the equivalent range. In addition, although various combinations and forms are shown in the present disclosure, other combinations and forms including only one element, more than one element, or less than one element are also within the scope and concept of the present disclosure. [Explanation of symbols]

[0085] 10...microcontroller, 11...processing device, 12...memory device, 13...first AD converter, 14...second AD converter, 15...timer, 20...inverter circuit, 20u, 20v, 20w...upper and lower arm circuits, 21u, 21v, 21w, 22u, 22v, 22w...switching element, 30...shunt resistor, 40...coil, 51-53...capacitor, 60u, 60v, 60w...position detection circuit, 71...motor terminal, 72...power supply terminal, 73...ground terminal, 80...circuit section, 81, 82...resistor, 83...capacitor, 84...amplifier, 85...detection line, 91, 92...attenuator, 100-120...controller, 200...motor, 300...battery

Claims

1. The motor is driven and controlled via a drive circuit (20) that converts a power supply voltage of a DC power supply (300) into a drive voltage for the motor (200), and the motor is provided with a control device (10) having a voltage measurement circuit (14) that measures the power supply voltage; The control device includes: A current detection circuit (30, 80) outputs a current value flowing through a winding of the motor when a drive voltage is applied to the motor, and obtains a detection signal correlating with the current value, a failure estimation step (S12) of estimating a current detection failure in the current detection circuit using the detection signal; a drive determination step (S14, S16) of determining whether or not drive control of the motor is possible using the power supply voltage measured by the voltage measurement circuit when it is estimated that the current detection is defective; a drive control step (S18 to S28) of stopping the drive control when it is determined in the drive determination step that the drive control is not possible, and estimating the current value from the measured value when it is determined that the drive control is possible, and continuing the drive control while using the estimated current value, the control device controls the drive circuit to convert the power supply voltage into the drive voltage that repeats on and off, thereby controlling the drive of the motor; In the drive determination step, the voltage measurement circuit measures the voltage drop of the power supply voltage from the measured value during the period when the drive voltage is on, and if there is no voltage drop, it is determined that drive control of the motor is not possible, and if there is a voltage drop, it is determined that drive control of the motor is possible.

2. 2. The motor control device according to claim 1, wherein, in the drive control step, when it is determined that the drive control is possible and the drive control is executed, an on-period of the power supply voltage is adjusted so that the voltage drop can be measured.

3. The control device records a correlation between the detection signal and the measurement value on condition that the current detection failure is not estimated in the failure estimation step, and 3. The motor control device according to claim 1, wherein the drive control step uses the correlation when estimating the current value from the measured value.

4. The motor is driven and controlled via a drive circuit (20) that converts a power supply voltage of a DC power supply (300) into a drive voltage for the motor (200), and the motor is provided with a control device (10) having a voltage measurement circuit (14) that measures the power supply voltage; The control device includes: A current detection circuit (30, 80) outputs a current value flowing through a winding of the motor when a drive voltage is applied to the motor, and obtains a detection signal correlating with the current value, a failure estimation step (S12) of estimating a current detection failure in the current detection circuit using the detection signal; a drive determination step (S14, S16) of determining whether or not drive control of the motor is possible using the power supply voltage measured by the voltage measurement circuit when it is estimated that the current detection is defective; a drive control step (S18 to S28) of stopping the drive control when it is determined in the drive determination step that the drive control is not possible, and estimating the current value from the measured value when it is determined that the drive control is possible, and continuing the drive control while using the estimated current value, The control device records a correlation between the detection signal and the measurement value on condition that the current detection failure is not estimated in the failure estimation step, and The motor control device, in the drive control step, uses the correlation when estimating the current value from the measured value.

5. a filter including a coil (40), an input side capacitor (51) having one terminal connected between the DC power supply and the coil, and an output side capacitor (52) having one terminal connected between the control device and the coil, in a power supply path between the DC power supply and the control device; 5. The motor control device according to claim 1, wherein the voltage measurement circuit measures, as the power supply voltage, a filtered voltage input via the filter.

6. 6. The motor control device according to claim 5, wherein the control device simultaneously measures the filtered voltage by the voltage measurement circuit and a power supply terminal voltage which is the voltage of a power supply terminal (72) to which the DC power supply is connected, and uses as the measured value a value obtained by subtracting a voltage fluctuation of the DC power supply from the filtered voltage and the power supply terminal voltage.

7. The motor is driven and controlled via a drive circuit (20) that converts a power supply voltage of a DC power supply (300) into a drive voltage for the motor (200), and the motor is provided with a control device (10) having a voltage measurement circuit (14) that measures the power supply voltage; The control device includes: A current detection circuit (30, 80) outputs a current value flowing through a winding of the motor when a drive voltage is applied to the motor, and obtains a detection signal correlating with the current value, a failure estimation step (S12) of estimating a current detection failure in the current detection circuit using the detection signal; a drive determination step (S14, S16) of determining whether or not drive control of the motor is possible using the power supply voltage measured by the voltage measurement circuit when it is estimated that the current detection is defective; a drive control step (S18 to S28) of stopping the drive control when it is determined in the drive determination step that the drive control is not possible, and estimating the current value from the measured value when it is determined that the drive control is possible, and continuing the drive control while using the estimated current value, a filter including a coil (40), an input side capacitor (51) having one terminal connected between the DC power supply and the coil, and an output side capacitor (52) having one terminal connected between the control device and the coil, in a power supply path between the DC power supply and the control device; the voltage measurement circuit measures a filtered voltage input through the filter as the power supply voltage; The control device simultaneously measures the filtered voltage by the voltage measurement circuit and a power supply terminal voltage, which is the voltage at the power supply terminal (72) to which the DC power supply is connected, and uses the filtered voltage and the power supply terminal voltage minus the voltage fluctuation of the DC power supply as the measured value.

8. The motor control device according to any one of claims 1 to 7, further comprising a noise removal device (91) provided between the DC power supply and the voltage measurement circuit.

9. 9. The motor control device according to claim 1, wherein the control device uses, as the measurement value, a value from which noise has been removed by a software filter.

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