Real-time simulation device, simulation system, and real-time simulation method

Abstract

A real-time simulation device (1) used to verify the control system of a motor control device (3) that controls a motor includes an inverter simulation unit (20) that simulates the operation of an inverter and calculates a voltage signal of a voltage output from the inverter based on a switching signal output from the motor control device, and a motor simulation unit (10) that simulates the operation of a motor in a state where an open circuit fault occurs based on a fault switching signal and calculates a current signal of a current that flows through the motor when the motor fails based on the voltage signal and outputs the current signal to the motor control device, and the motor simulation unit has a motor resistance calculation unit that calculates a motor resistance that is the resistance of the motor corresponding to the fault switching signal based on a motor constant that represents the characteristics of the motor, a calculation period of the real-time simulation device, and the fault switching signal, and a motor current calculation unit that calculates a current signal based on the voltage signal, the motor constant, the calculation period, and the motor resistance and outputs the current signal to the motor control device.

Description

[Technical Field]

[0001] The present disclosure relates to a real-time simulation device, a simulation system, and a real-time simulation method for simulating in real time the operation of a motor controlled by a motor control device. [Background technology]

[0002] In recent years, the industrial world has been advancing technological development that applies model-based development, which utilizes simulation models in each phase of product design. For example, when model-based development is applied to a motor control device, a closed-loop system is formed between the actual motor control device and a real-time simulation device, and the real-time simulation device virtualizes and simulates the motor to be controlled. This allows the motor control device to operate as if it were connected to an actual controlled object, making it possible to evaluate the functions and performance of the motor control device.

[0003] The advantages of this simulation process include the ability to verify a motor control device in combination with a virtual motor model before a prototype motor is manufactured; virtualizing the motor eliminates the need to actually prepare a motor, significantly reducing the amount of work required to evaluate the motor control device; and, because the motor is not actually operated, unmanned continuous evaluation is possible.

[0004] Real-time simulation equipment can also be used to simulate motor failures. Motor control devices are typically equipped with a failure detection function that detects motor failures and stops the motor control device to prevent the motor from running out of control or being damaged due to a motor failure. Evaluating the failure detection function requires intentionally inducing a failure in the motor, but verification using an actual motor may not be able to safely evaluate the motor if the failure detection function does not function properly during evaluation. On the other hand, simulating motor failures using a real-time simulation equipment makes it possible to safely evaluate the motor without using an actual motor.

[0005] The simulation system described in Patent Document 1 injects an electrical fault, such as an open circuit, into an electronic component that constitutes an on-board electronic control unit, and evaluates the impact of the fault on the vehicle plant that is the controlled object. This simulation system simulates an open circuit fault by connecting a resistor element model in series with a normal circuit element and setting the resistance value of the resistor element model to a large value, such as several MΩ, at the timing when the open circuit fault is to be simulated. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-099144 Summary of the Invention [Problem to be solved by the invention]

[0007] However, when the technology of Patent Document 1 is applied to a real-time simulation device that simulates an open circuit fault in a motor's electric circuit, if the resistance value of the resistor element model is too large, the simulation system will operate under unstable conditions due to the relationship between the calculation cycle of the real-time simulation device and the motor constants. As a result, the technology of Patent Document 1 has the problem that the simulation of an open circuit fault in a motor's electric circuit does not converge, making it impossible to simulate an open circuit fault in a motor's electric circuit.

[0008] The present disclosure has been made in view of the above, and aims to provide a real-time simulation device that can converge a simulation and simulate a failure in an electric circuit of a motor. [Means for solving the problem]

[0009] To solve the above-mentioned problems and achieve the object, the present disclosure provides a real-time simulation device used to verify the control system of a motor control device that controls a motor driven by an inverter, the real-time simulation device including an inverter simulation unit that simulates the operation of the inverter to calculate a voltage signal, which is a signal including a voltage value of the voltage output from the inverter, based on a switching signal output from the motor control device. The real-time simulation device also includes a motor simulation unit that simulates the operation of the motor in a state of an open-circuit fault based on a fault switching signal that indicates a fault state of the motor input from outside the real-time simulation device, to calculate a current signal, which is a signal including a current value of the current flowing through the motor in the event of a motor failure, based on the voltage signal, and outputs the current signal to the motor control device. The motor simulation unit includes a motor resistance calculation unit that calculates a motor resistance corresponding to the fault switching signal based on a motor constant that indicates the characteristics of the motor, a calculation period of the real-time simulation device, and the fault switching signal. The motor simulation unit also includes a motor current calculation unit that calculates a current signal based on the voltage signal, the motor constant, the calculation period, and the motor resistance, and outputs the current signal to the motor control device. When the fault switching signal indicates an open-circuit fault, which is a fault occurring when the wiring connecting the inverter and the motor and some phases of the electric circuit including the motor are in an open-circuit state, the motor resistance calculation unit calculates an upper limit value of the motor resistance based on the motor constant and the calculation period, and calculates the motor resistance in the open-circuit fault state as the fault resistance based on the upper limit value of the motor resistance. The motor resistance calculation unit also outputs the fault resistance to the motor current calculation unit as the motor resistance of the phase in the open-circuit fault state, and outputs the motor resistance value when the electric circuit is in a normal state to the motor current calculation unit as the motor resistance of the phase in the normal electric circuit state. [Effects of the Invention]

[0010] The real-time simulation device according to the present disclosure has the effect of converging the simulation and simulating a failure in the electric circuit of the motor. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a configuration of a simulation system having a real-time simulation device according to a first embodiment. [Figure 2] FIG. 1 is a diagram showing a configuration of a motor simulation unit included in a real-time simulation device according to a first embodiment. [Figure 3] FIG. 1 is a diagram showing a configuration of a motor resistance calculation unit included in a real-time simulation device according to a first embodiment. [Figure 4]FIG. 1 is a diagram showing a configuration of a motor resistance switching unit included in a real-time simulation device according to a first embodiment; [Figure 5] 1 is a flowchart showing a procedure for a process of calculating a current signal by the real-time simulation device according to the first embodiment; [Figure 6] FIG. 10 is a diagram showing the configuration of a motor resistance calculation unit included in the real-time simulation device according to the second embodiment. [Figure 7] FIG. 10 is a diagram for explaining the operation of the motor resistance switching unit according to the second embodiment. [Figure 8] 10 is a flowchart showing a processing procedure of a process for calculating a fault resistance by a fault resistance calculation unit according to a second embodiment. [Figure 9] FIG. 1 is a diagram showing an example of the configuration of a processing circuit provided in the real-time simulation device according to the first and second embodiments when the processing circuit is realized by a processor and a memory. [Figure 10] FIG. 1 is a diagram showing an example of the configuration of a processing circuit provided in the real-time simulation device according to the first and second embodiments when the processing circuit is configured with dedicated hardware. DETAILED DESCRIPTION OF THE INVENTION

[0012] A real-time simulation device, a simulation system, and a real-time simulation method according to embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0013] Embodiment 1 1 is a diagram showing the configuration of a simulation system having a real-time simulation device according to a first embodiment. The simulation system 100 includes a real-time simulation device 1, a motor control device 3, and an operation device 4. The real-time simulation device 1 is connected to the motor control device 3 and the operation device 4.

[0014] The motor control device 3 is a control device that includes a control circuit that performs calculations to control a motor (not shown), and a main circuit that includes a detection circuit for current, etc., and an inverter. The motor control device 3 outputs a switching signal used to control the motor to the real-time simulation device 1. The motor control device 3 also receives a current signal (current waveform signal) from the real-time simulation device 1 that includes the current value of the current that flows through the motor when the motor is operating. The motor control device 3 outputs a switching signal that corresponds to the received current signal.

[0015] When actually controlling the motor, the motor control device 3 outputs a switching signal to the inverter in the main circuit, and the inverter outputs a voltage to the motor based on the switching signal. In the simulation system 100, however, the switching signal is output to the real-time simulation device 1 from the circuit that outputs the switching signal in the control circuit.

[0016] The switching signals output by the motor control device 3 to the real-time simulation device 1 are used to simulate the operation of the motor and the inverter. As described above, the motor control device 3 is a control device that includes a control circuit that performs calculations to control the motor, a detection circuit for detecting currents and the like, and a main circuit that includes an inverter, and in the first embodiment, it is used to simulate the operation of the motor and the inverter.

[0017] The operation device 4 is a host computer that operates and monitors the real-time simulation apparatus 1. That is, the operation device 4 operates the real-time simulation apparatus 1 and monitors the current signal calculated by the real-time simulation apparatus 1 simulating the operation of the motor.

[0018] The operation device 4 generates a failure switching signal that indicates the failure state of the motor and outputs the failure switching signal to the real-time simulation device 1. The failure switching signal is a signal for switching the failure state of the motor. An example of the failure switching signal is a signal that indicates a location in the electric circuit of the motor where an open fault occurs. The failure switching signal can be switched by the operator of the operation device 4.

[0019] A motor failure in the first embodiment is a failure (open circuit failure) that occurs when the wiring connecting the inverter and the motor (hereinafter sometimes referred to as the motor connecting wiring) and one of the phases (U phase, V phase, or W phase) of the electric circuit including the motor becomes open circuit. The inverter is a circuit that drives the motor and converts direct current into alternating current. The motor connecting wiring and the electric circuit including the motor become open circuit due to a break in the armature winding inside the motor, a break in the motor connecting wiring, poor contact of the inverter terminals or motor terminals, etc.

[0020] Furthermore, the operation device 4 receives from the real-time simulation device 1 the voltage signal (voltage waveform signal) calculated by the real-time simulation device 1 and the current signal output from the real-time simulation device 1.

[0021] The voltage signal received by the operation device 4 is a voltage signal output from the inverter calculated by the real-time simulation device 1 simulating the operation of the inverter. The current signal received by the operation device 4 is a current signal flowing through the motor calculated by the real-time simulation device 1 simulating the operation of the motor.

[0022] The operation device 4 also displays the voltage signal and current signal received from the real-time simulation device 1 as numerical values ​​or graphs. The operation device 4 also displays the fault location and fault content (open fault) corresponding to the fault switching signal. By referring to the numerical values ​​or graphs displayed on the operation device 4, the operator of the operation device 4 can perform control verification of the motor control device 3, such as verification of control accuracy and stability. The operation device 4 may also display the fault location, fault content, voltage signal, and current signal on a display device (not shown) configured separately from the operation device 4.

[0023] The real-time simulation device 1 is a computer used to verify the control system in the motor control device 3. A switching signal output from the motor control device 3 and a fault switching signal output from the operation device 4 are input to the real-time simulation device 1.

[0024] The real-time simulation device 1 includes an inverter simulation unit 20 and a motor simulation unit 10. A switching signal output from a motor control device 3 is input to the inverter simulation unit 20. The switching signal input to the inverter simulation unit 20 is a switching signal generated by the motor control device 3 based on a motor drive program for driving the motor, etc.

[0025] The inverter simulator 20 simulates the operation of the inverter. By simulating the operation of the inverter, the inverter simulator 20 calculates a voltage signal corresponding to the voltage output from the inverter. The voltage signal is, for example, a three-phase AC voltage signal, that is, a signal including voltage values ​​of AC voltages having a phase angle difference of 120° from each other. The inverter simulator 20 outputs the calculated voltage signal to the operating device 4 and the motor simulator 10.

[0026] The motor simulator 10 receives a voltage signal from the inverter simulator 20 and a failure switching signal from the operating device 4.

[0027] The motor simulator 10 calculates a current signal based on the voltage signal, the failure switching signal, the motor resistance (described later), the motor constant (described later), and the calculation period (described later). The motor simulator 10 simulates the operation of the motor in a motor failure state to calculate a current signal that includes the current value of the current that flows through the motor when the motor fails. The current signal calculated by the motor simulator 10 corresponds to the failure switching signal. The motor simulator 10 transmits the calculated current signal to the operating device 4 and the motor control device 3.

[0028] An example of a motor whose operation is simulated by the real-time simulation device 1 is a permanent magnet synchronous motor, but the real-time simulation device 1 may simulate the operation of any motor.

[0029] When the motor control device 3 controls a motor arranged in a mechanical device, a DC voltage obtained by rectifying an AC voltage output from an AC power supply (not shown) is applied to an inverter connected to the motor.

[0030] The DC voltage applied to the inverter is converted into an AC voltage by a switching signal input to the inverter. This AC voltage is applied to the motor, which is then driven by the AC voltage. The switching signal is a control signal that controls the conduction and non-conduction of semiconductor elements included in the inverter.

[0031] An example of a switching signal is a pulse width modulation (PWM) signal, which is obtained by comparing a sinusoidal phase voltage control value with a triangular carrier wave.

[0032] In some inverters, a DC phase voltage control value is used instead of a sinusoidal phase voltage control value. Also, in some inverters, a sawtooth carrier wave is used instead of a triangular carrier wave. The frequency of the PWM signal is determined by the fluctuation period of the pulse width of the PWM signal.

[0033] Normally, the switching signal is input to an inverter within the motor control device 3, but is not output to the outside of the motor control device 3. Therefore, in the simulation system 100, it is necessary to connect the motor control device 3 to the real-time simulation device 1 and have the switching signal output from the circuit within the motor control device 3 that outputs the switching signal to the real-time simulation device 1.

[0034] In the simulation system 100, for example, a switching signal can be extracted from a circuit that outputs a switching signal within the motor control device 3 using a jumper wire or the like, and the jumper wire or the like can be connected to the real-time simulation device 1, thereby outputting a switching signal from the motor control device 3 to the real-time simulation device 1.

[0035] Furthermore, the simulation system 100 may be provided with an output unit that outputs a switching signal to the motor control device 3 in order to cause the motor control device 3 to output a switching signal. In this case, the motor control device 3 converts the three-phase voltage commands into switching signals, and outputs the switching signals from the output unit to the real-time simulation device 1.

[0036] Next, the detailed configuration and operation of the motor simulation unit 10 will be described. FIG. 2 is a diagram showing the configuration of the motor simulation unit provided in the real-time simulation device according to the first embodiment. The motor simulation unit 10 includes, for example, a motor current calculation unit 11 and a motor resistance calculation unit 12. The motor current calculation unit 11 is connected to the motor resistance calculation unit 12.

[0037] The motor resistance calculation unit 12 receives a failure switching signal from the operation device 4. The motor resistance calculation unit 12 calculates the motor resistance, which is the resistance of the motor, based on the failure switching signal. The motor resistance calculation unit 12 transmits the calculated motor resistance to the motor current calculation unit 11.

[0038] The motor current calculation unit 11 receives a voltage signal from the inverter simulation unit 20 and receives a motor resistance from the motor resistance calculation unit 12. The motor current calculation unit 11 also stores in advance a motor constant representing the characteristics of the motor and a calculation period of the real-time simulation device 1 (hereinafter, may be simply referred to as the calculation period). The motor constant and the calculation period may be stored in a location other than the motor current calculation unit 11 (for example, a storage unit 123 described later).

[0039] The motor current calculation unit 11 calculates a current signal based on the voltage signal, the motor resistance, the motor constant, and the calculation period. The voltage signal is expressed as a voltage value (three-phase voltage value) v in a three-phase coordinate system consisting of U-phase, V-phase, and W-phase. u ,v v ,v w is a signal containing v u is the U-phase voltage value (U-phase component value of the armature voltage), and v v is the V-phase voltage value (V-phase component value of the armature voltage), and v w is the W-phase voltage value (W-phase component value of the armature voltage).

[0040] The motor resistance is the armature resistance value of each phase (U-phase, V-phase, and W-phase) in a three-phase coordinate system. The armature resistance value of the U-phase is the U-phase component of the armature winding resistance, the armature resistance value of the V-phase is the V-phase component of the armature winding resistance, and the armature resistance value of the W-phase is the W-phase component of the armature winding resistance.

[0041] The current signal is expressed as the current value (three-phase current value) i in a three-phase coordinate system consisting of the U, V, and W phases. u ,i v ,i w It is a signal containing i u is the U-phase current value (U-phase component of the armature current), and i v is the V-phase current value (V-phase component value of the armature current), and i w is the W-phase current value (the W-phase component value of the armature current). The motor constant is a constant value that indicates the characteristics of the motor, including the inductance of the motor.

[0042] Here, the voltage equation in the UVW coordinate system that defines the motor characteristics can be expressed by the following equation (1) if the motor is a surface permanent magnet synchronous motor. A surface permanent magnet synchronous motor is a permanent magnet synchronous motor in which permanent magnets are attached to the surface of the motor rotor.

[0043]

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[0044] In the above equation (1), L' is the self-inductance value of the armature winding, and M' is the mutual inductance value between the armature windings. u is the electrical angular velocity electromotive force induced in the U-phase armature winding by the permanent magnet, and e v is the electrical angular velocity electromotive force induced in the V-phase armature winding by the permanent magnet, and e w is the electrical angular velocity electromotive force induced in the W-phase armature winding by the permanent magnet. p is the differential operator. R u is the motor resistance of the U phase, and R v is the V-phase motor resistance, and R w is the W-phase motor resistance.

[0045] Here, we define a dq coordinate system in which the direction of the magnetic flux created by the motor's magnetic poles is the d-axis, and the direction that leads the d-axis by an electrical angle of π / 2 [rad] is the q-axis.In this case, when formula (1) is converted into the dq coordinate system, the voltage equation can be expressed as formula (2) below.

[0046]

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[0047] In the above formula (2), v d is the d-axis component of the armature voltage, and v q is the q-axis component of the armature voltage. d is the d-axis component of the armature current, and i qis the q-axis component of the armature current. L is the inductance value in the dq coordinate system, with units of [H]. φ is the armature flux linkage due to the permanent magnet, with units of [V / (rad / s)]. ω is the electrical angular velocity, with units of [rad / s].

[0048] R dq_11 is the component value of the first row and first column of the matrix representing the resistance value in the dq coordinate system expressed by the following equation (3): R dq_12 is the component value of the first row and second column of the matrix that represents the resistance value in the dq coordinate system expressed by the following equation (4). R dq_21 is the component value of the second row and first column of the matrix representing the resistance value in the dq coordinate system expressed by the following equation (5). R dq_22 is the component value of the second row and second column of the matrix that represents the resistance value in the dq coordinate system expressed by the following equation (6). R dq_11 , R dq_12 , R dq_21 , R dq_22 The unit is [Ω].

[0049]

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[0050]

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[0053] In the above equations (3) to (6), θ is the electrical angle phase of the N pole of the permanent magnet taken clockwise from the U-phase armature winding axis, and is expressed in units of [rad]. Transforming equation (2) into a differential equation for current gives the following equation (7).

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[0055] By solving the differential equation (7) above, d and i q However, in simulators such as the real-time simulation device 1, calculations are performed in discrete time, so the real-time simulation device 1 actually calculates the current signal in a discrete system obtained by discretizing equation (7). When the real-time simulation device 1 discretizes using the forward Euler method, the state equation of the discrete system is expressed by the following equation (8).

[0056]

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[0057] In the above equation (8), t s is the calculation period of the real-time simulation device 1, and the unit is [s]. k is the number of the sampled signal sequence, and k-1 is the number t s The real-time simulation device 1 calculates i by using the above equation (8). d [k] and i q Calculate [k] and i d [k] and i q By converting [k] into the UVW coordinate system, the current signal that is the output of the motor current calculation unit 11 can be obtained.

[0058] Next, a detailed configuration and operation of the motor resistance calculation unit 12 will be described. Fig. 3 is a diagram showing the configuration of the motor resistance calculation unit provided in the real-time simulation device according to the first embodiment. The motor resistance calculation unit 12 includes a motor resistance switching unit 121, a fault resistance calculation unit 122, and a storage unit 123. The fault resistance calculation unit 122 is connected to the motor resistance switching unit 121 and the storage unit 123.

[0059] The storage unit 123 stores the motor constants and the calculation period of the real-time simulation device 1. The motor constants and calculation period stored in the storage unit 123 are the same as the motor constants and calculation period used when the motor current calculation unit 11 calculates the current signal.

[0060] The motor constants and calculation cycles stored in the storage unit 123 are read out by the fault resistance calculation unit 122. Note that the motor constants and calculation cycles stored in the storage unit 123 may also be read out by the motor current calculation unit 11.

[0061] The fault resistance calculation unit 122 may acquire the motor constant and the calculation period by any method, not limited to reading them out from the storage unit 123. For example, the operation device 4 may input the motor constant and the calculation period to the fault resistance calculation unit 122, or the motor constant and the calculation period may be input to the fault resistance calculation unit 122 by another method.

[0062] The fault resistance calculation unit 122 calculates the fault resistance (resistance value) R based on the motor constant and the calculation period. open Calculate the fault resistance R open is the resistance caused by an open circuit fault in the motor's electrical circuit. Specifically, the fault resistance R open is the resistance caused by a break in the armature winding inside the motor, a break in the motor connection wiring, or poor contact at the inverter terminals or motor terminals. open is used to simulate an open circuit fault in an electrical circuit comprising the motor connection wiring and the motor.

[0063] Hereinafter, a state in which no open circuit fault occurs and the electric circuit including the motor connection wiring and the motor operates normally will be referred to as a normal state. open is transmitted to the motor resistance switching unit 121.

[0064] The motor resistance switching unit 121 calculates the fault switching signal output from the operation device 4 and the fault resistance R output from the fault resistance calculation unit 122. open Based on this, the motor resistance is calculated.

[0065] Here, a detailed configuration and operation of the motor resistance switching unit 121 will be described. Fig. 4 is a diagram showing the configuration of the motor resistance switching unit provided in the real-time simulation device according to the first embodiment. Here, an example configuration of the motor resistance switching unit 121 and an example operation of the motor resistance switching unit 121 when simulating a state in which only the U phase of the motor has an open circuit fault will be described.

[0066] The motor resistance switching unit 121 receives the fault resistance R calculated by the fault resistance calculation unit 122. open and a failure switching signal output from the operation device 4. The motor resistance switching unit 121 has selectors 121u, 121v, and 121w that select motor resistances based on the failure switching signal.

[0067] The selector 121u selects the U-phase motor resistance based on the failure switching signal. The selector 121v selects the V-phase motor resistance based on the failure switching signal. The selector 121w selects the W-phase motor resistance based on the failure switching signal.

[0068] The selectors 121u, 121v, and 121w select the fault resistance R open Or select the resistance value R. Fault resistance R open is the motor resistance when the motor is in an open circuit fault state, and resistance value R is the motor resistance when the motor is in a normal state. The resistance value R is stored in advance by the motor resistance switching unit 121 and input to the selectors 121u, 121v, and 121w.

[0069] The selector 121u selects the motor resistance of the selected U phase as the motor resistance R u to the motor current calculation unit 11. The selector 121v outputs the selected V-phase motor resistance as the motor resistance R vto the motor current calculation unit 11. The selector 121w outputs the selected W-phase motor resistance as the motor resistance R w and outputs it to the motor current calculation unit 11 as

[0070] In this way, the selectors 121u, 121v, and 121w select the fault resistance R as the motor resistance of the fault occurrence point (U phase, V phase, or W phase) in the open fault state. open to the motor current calculation unit 11. Furthermore, the selectors 121u, 121v, and 121w output to the motor current calculation unit 11 the resistance value R of the motor when the electric circuit is normal, as the motor resistance of a normal portion where the electric circuit including the motor connection wiring and the motor is in a normal state.

[0071] Here, two signals (fault resistance R open and resistance value R) are called the selected signals, and the signal input from the upper side of each selector (fault switching signal) is called the selection flag. Each selector outputs one of the selected signals according to the selection flag.

[0072] In the example of FIG. 4, the selected signals are the resistance value R of each phase of the motor in a normal state and the fault resistance R in an open fault state output from the fault resistance calculation unit 122. open are input to each selector.

[0073] The failure switching signal is, for example, a three-bit signal consisting of a first bit to a third bit. In the motor resistance switching unit 121, the least significant bit (first bit) of the failure switching signal is input to the selector 121u as a selection flag for the selector 121u. In the motor resistance switching unit 121, the second bit (second-lowest bit) of the failure switching signal is input to the selector 121v as a selection flag for the selector 121v. In the motor resistance switching unit 121, the most significant bit (third bit) of the failure switching signal is input to the selector 121w as a selection flag for the selector 121w.

[0074] The selectors 121u, 121v, and 121w output the resistance value R when the selection flag is 0, and output the fault resistance R when the selection flag is 1. open When the motor resistance switching unit 121 simulates a three-phase normal state, a binary notation of "000" is input to the motor resistance switching unit 121 as a failure switching signal.

[0075] When the motor resistance switching unit 121 simulates an open fault state of the U phase, a normal state of the V phase, and a normal state of the W phase, the binary notation "001" is input to the motor resistance switching unit 121 as a fault switching signal.

[0076] When the motor resistance switching unit 121 simulates an open fault state of the V phase, a normal state of the U phase, and a normal state of the W phase, the binary notation "010" is input to the motor resistance switching unit 121 as a fault switching signal.

[0077] When the motor resistance switching unit 121 simulates an open fault state of the W phase, a normal state of the U phase, and a normal state of the V phase, the binary notation "100" is input to the motor resistance switching unit 121 as a fault switching signal.

[0078] In the example of Fig. 4, the binary notation "001" is input as the failure switching signal to the motor resistance switching unit 121. Therefore, the motor resistance R of the U phase among the motor resistances is u Only the fault resistance R open and the V-phase motor resistance R v and W-phase motor resistance R w is the resistance value R.

[0079] As described above, the motor resistance calculation unit 12 can switch the motor resistance output by the motor resistance switching unit 121 depending on whether the motor resistance is in a normal state or an open-circuit fault state by switching the failure switching signal.

[0080] Next, the operation of the fault resistance calculation unit 122 will be described. The fault resistance calculation unit 122 calculates the fault resistance R open Calculate and output.

[0081] Fault resistance R open The value (resistance value) of may be a sufficiently large value as in the method of Patent Document 1, but the simulation may not converge. Therefore, the fault resistance calculation unit 122 of the first embodiment calculates the fault resistance R at which the simulation converges. open That is, when the calculation needs to be performed in real time as in the real-time simulation device 1 and the calculation period cannot be shortened, the fault resistance R open If the value of is set too large, the simulation may not converge in the motor simulator 10. Therefore, the fault resistance calculation unit 122 calculates the fault resistance R taking into account the conditions for the simulation to converge. open Calculate.

[0082] Here, a method for deriving the conditions for convergence of the simulation will be explained. When the above-mentioned equation (8) is written as a transfer function of a discrete-time system, it can be expressed in the form of the following equations (9) and (10).

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[0085] In the above equation (9), I d is the d-axis component value of the armature current i d is the Z-transform of I q is the q-axis component value of the armature current i q This is the Z-transform of V d is the d-axis component value of the armature voltage v d is the Z-transform of V q is the q-axis component value of the armature voltage v q is the Z-transform of the electrical angular velocity ω.

[0086] Here, the pole in the above equation (9) is z=1-(ts R dq_11 ) / L, and the pole in the above equation (10) is z=1-(t s R dq_22 ) / L. The convergence condition of the simulation is the condition under which the discrete-time system shown in equations (9) and (10) converges, and is the condition under which the pole z satisfies |z|<1. The condition under which the pole z satisfies |z|<1 is expressed in the form of equations (11) and (12) below.

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[0089] By modifying the above equations (11) and (12), the equations (11) and (12) are expressed in the form of the following equations (13) and (14).

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[0092] Here, let us take the case where an open fault occurs only in the U phase as an example, and calculate the R open We will explain how to derive the condition for R expressed by equation (3) when the simulation converges when an open fault occurs only in the U phase. dq_11 is the fault resistance R open and the resistance value R of each phase of the motor in a normal state, is expressed by the following equation (15).

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[0094] By substituting the above formula (15) into the above formula (13) and transforming the formula (13), the formula (13) can be expressed as the following formula (16).

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[0096] Also, 0≦cos 2 θ≦1 and R open Since is a positive value, the condition of the following equation (17) also holds.

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[0098] From the above, the R open The condition is expressed by the following equation (18).

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[0100] The right side of the above equation (18) is R open The fault resistance calculation unit 122 sets a value smaller than the right side of the equation (18) as R open The fault resistance calculation unit 122 sets, for example, R open is calculated using the following equation (19).

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number

[0102] In the above equation (19), the right side of the above equation (18) is multiplied by a coefficient of 0.99, but R openSince it is sufficient for R to satisfy the above equation (18), the coefficient should be less than 1 and greater than 0. On the other hand, in order to accurately simulate an open fault condition, R open It is desirable that is as large as possible.

[0103] In addition, the fault resistance calculation unit 122 calculates R open As another method for calculating (18), a method of rounding down the right side of equation (18) to the nearest significant digit may be applied. Furthermore, the fault resistance calculation unit 122 may apply a method of calculating a value that is smaller than the value of the right side of equation (18) that can be expressed as a floating-point number and is closest to the value of the right side of equation (18).

[0104] Furthermore, based on equations (6) and (12), the R open The condition of (18) is also derived. In addition, when only the V phase is in an open fault state, and when only the W phase is in an open fault state, the simulation converges. open The condition of (18) is the same as that of (18).

[0105] From the above, when simulating an open fault state in any of the U phase, V phase, and W phase, the fault resistance calculation unit 122 calculates R using the above equation (19) based on the above equation (18). open can be calculated.

[0106] By configuring the real-time simulation device 1 as described above, when simulating an open circuit fault state in the electric circuit of the motor, the real-time simulation device 1 can converge the simulation and simulate the open circuit fault.

[0107] In addition, motor resistance calculation unit 12 in embodiment 1 switches between the motor resistance in a normal state and the motor resistance in an open fault state in response to the fault switching signal and outputs the switched-over motor resistance. The motor resistance output from motor resistance calculation unit 12 is input to motor current calculation unit 11, which calculates a current signal based on the input motor resistance.

[0108] This enables the real-time simulation device 1 to easily confirm the behavior of the motor in the event of an open circuit fault and to verify the processing unit included in the control system of the motor control device 3 that stops control when a fault occurs in the control system.

[0109] Furthermore, the real-time simulation device 1 does not need to have multiple motor current calculation units 11 corresponding to the normal state and the open fault state, and it is possible to perform simulation even when the hardware resources of the real-time simulation device 1 are limited.

[0110] Furthermore, the motor resistance calculation unit 12 of the first embodiment calculates the resistance value at the time of a fault (fault resistance R open ) is calculated, and the maximum fault resistance R open can be generated automatically.

[0111] This allows the operator to repeatedly run the simulation and determine the fault resistance R open Furthermore, the real-time simulation device 1 can efficiently confirm the behavior of the motor when an open circuit fault occurs, and can easily verify the processing unit that stops control when a fault occurs and is included in the control system of the motor control device 3 when an open circuit fault occurs.

[0112] Next, the operation procedure of the real-time simulation device 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the processing procedure of the process for calculating a current signal by the real-time simulation device according to the first embodiment.

[0113] The inverter simulation unit 20 of the real-time simulation device 1 simulates the operation of the inverter in a motor failure state. Specifically, the inverter simulation unit 20 executes the process of step S1 below. That is, the inverter simulation unit 20 calculates a voltage signal of a voltage output from the inverter based on a switching signal input from the motor control device 3 (step S1).

[0114] The inverter simulator 20 transmits the calculated voltage signal to the motor simulator 10. The motor simulator 10 receives the voltage signal from the inverter simulator 20 and receives the failure switching signal from the operation device 4.

[0115] The motor simulator 10 simulates the operation of the motor in a fault state of the motor. Specifically, the motor simulator 10 executes the processes of steps S2 to S4 below. That is, the motor simulator 10 simulates the operation of the motor in a fault state of the motor by calculating the fault resistance R open Specifically, the motor simulator 10 calculates the fault resistance R based on the motor constant and the calculation period (step S2). open Calculate.

[0116] Furthermore, the motor simulation unit 10 has a fault resistance R open (Step S3), and calculates a current signal that flows through the motor in the event of a failure based on the motor resistance (Step S4). Specifically, the motor simulator 10 calculates the current signal based on the failure switching signal, the motor resistance, the voltage signal, the motor constant, and the calculation period.

[0117] As described above, in the first embodiment, inverter simulator 20 calculates a voltage signal of the voltage output from the inverter based on the switching signal output from motor control device 3. Furthermore, motor simulator 10 simulates the operation of the motor in a state where an open circuit fault occurs based on the fault switching signal indicating the fault state of the motor, thereby calculating a current signal of the current flowing through the motor when the motor fails based on the voltage signal and outputting the current signal to motor control device 3. Motor simulator 10 also has motor resistance calculator 12 that calculates motor resistance based on the motor constant, calculation period, and failure switching signal, and motor current calculator 11 that outputs a current signal based on the voltage signal, motor constant, calculation period, and motor resistance.

[0118] As a result, the real-time simulation device 1 of the first embodiment determines the fault resistance R at which the simulation converges based on the motor constant and the calculation period. open can be calculated, and this fault resistance R open and the fault switching signal, the motor resistance at which the simulation converges can be calculated. Furthermore, the real-time simulation device 1 calculates a current signal based on the voltage signal and the motor resistance at which the simulation converges, and simulates a fault in the motor's electric circuit using a switching signal generated in response to the current signal, so that the simulation can be converged and a fault in the motor's electric circuit can be simulated.

[0119] Embodiment 2 Next, a second embodiment will be described with reference to Fig. 6 to Fig. 8. In the second embodiment, the real-time simulation device 1 determines the fault resistance R used for simulation according to the number of phases for simulating an open fault state. open The motor failure in the second embodiment is a failure (open circuit failure) that occurs when at least some phases (one, two, or three phases) of the electric circuit including the motor connection wiring and the motor are open.

[0120] Fig. 6 is a diagram showing the configuration of a motor resistance calculation unit included in a real-time simulation device according to embodiment 2. Among the components in Fig. 6, components that achieve the same functions as those of motor resistance calculation unit 12 according to embodiment 1 shown in Fig. 3 are assigned the same reference numerals, and redundant explanations will be omitted.

[0121] Compared to the real-time simulation device 1 of the first embodiment, the real-time simulation device 1 of the second embodiment includes a motor resistance calculation unit 12A instead of the motor resistance calculation unit 12. The rest of the configuration of the real-time simulation device 1 is the same as or equivalent to the configuration of the real-time simulation device 1 of the first embodiment shown in FIG.

[0122] The motor resistance calculation unit 12A includes a motor resistance switching unit 121, a fault resistance calculation unit 122A, and a storage unit 123. That is, compared to the motor resistance calculation unit 12, the motor resistance calculation unit 12A includes the fault resistance calculation unit 122A instead of the fault resistance calculation unit 122. Furthermore, like the fault resistance calculation unit 122, the fault resistance calculation unit 122A is connected to the motor resistance switching unit 121 and the storage unit 123.

[0123] In the motor resistance calculation unit 12A, a fault switching signal is input to the motor resistance switching unit 121 and the fault resistance calculation unit 122A. That is, in the configuration of the motor resistance calculation unit 12 of the first embodiment shown in Fig. 3, the fault switching signal is not input to the fault resistance calculation unit 122, but in the motor resistance calculation unit 12A of the second embodiment, the fault switching signal is input to the fault resistance calculation unit 122A. The processing (operation) executed by the fault resistance calculation unit 122A will be described later.

[0124] Next, the operation of the motor resistance switching unit 121 in the second embodiment will be described. Fig. 7 is a diagram for explaining the operation of the motor resistance switching unit according to the second embodiment. The motor resistance switching unit 121 of the second embodiment shown in Fig. 7 has the same configuration as the motor resistance switching unit 121 of the first embodiment shown in Fig. 4.

[0125] Here, an example of the operation of the motor resistance switching unit 121 when simulating a state in which the U and V phases of the motor have an open circuit fault will be described. When the motor resistance switching unit 121 simulates an open circuit fault state in the U and V phases and a normal state in the W phase, a binary notation of "011" is input to the motor resistance switching unit 121 as a fault switching signal.

[0126] In this case, the motor resistance of the U phase is R u is the fault resistance R open and the V-phase motor resistance R v is the fault resistance R open and the W-phase motor resistance R w becomes the resistance value R. That is, the motor resistance switching unit 121 selects the motor resistance R uand motor resistance R v is the fault resistance R open and the motor resistance R w The normal resistance value R is output as the output.

[0127] In addition, the motor resistance switching unit 121 switches the resistance value R and the fault resistance R based on the fault switching signal in the same manner as described above when simulating a case where two phases, the V phase and the W phase, are in an open-circuit fault state at the same time, a case where two phases, the U phase and the W phase, are in an open-circuit fault state at the same time, or a case where all three phases, the U phase, the V phase, and the W phase, are in an open-circuit fault state. open Just switch between the two.

[0128] As described above, even when simulating a case where two or three phases are simultaneously in an open fault state, the simulation system 100 can switch the motor resistance output by the motor resistance switching unit 121 according to the normal state or the open fault state by switching the fault switching signal.

[0129] Next, the operation of the fault resistance calculation unit 122A will be described. The fault resistance calculation unit 122A calculates the fault resistance R based on the fault switching signal output from the operation device 4, the motor constant, and the calculation period of the real-time simulation device 1. open Calculate.

[0130] The fault resistance calculation unit 122 of the first embodiment calculates the fault resistance R when only one phase is in an open fault state. open The condition was calculated using equation (18). The fault resistance calculation unit 122A of the second embodiment calculates the fault resistance R at which the simulation converges when two or three phases are simultaneously put into an open-circuit fault state in addition to when only one phase is put into an open-circuit fault state as in the first embodiment. open Calculate.

[0131] First, let us consider the case where the U and V phases are simultaneously subjected to an open fault. open When the U phase and V phase are simultaneously in an open state, R expressed by equation (3) dq_11 is expressed by the following equation (20).

[0132]

number

[0133] By substituting the above formula (20) into the above formula (13) and transforming the formula (13), the formula (13) can be expressed as the following formula (21).

[0134]

number

[0135] Also, -1≦sin(2θ+5π / 6)≦1, and R open Since is a positive value, the condition of the following equation (22) also holds.

[0136]

number

[0137] From the above, the R open The condition is expressed by the following equation (23).

[0138]

number

[0139] The right side of the above equation (23) is R open The fault resistance calculation unit 122A sets a value smaller than the right side of the equation (23) as R open The fault resistance calculation unit 122A sets, for example, R open is calculated using the following equation (24).

[0140]

number

[0141] In the above equation (24), the right side of the above equation (23) is multiplied by a coefficient of 0.99 as in the first embodiment, but R open Since it is sufficient for R to satisfy the above equation (23), the coefficient should be less than 1 and greater than 0. On the other hand, in order to accurately simulate an open fault, R open It is desirable that is as large as possible.

[0142] In addition, the fault resistance calculation unit 122A calculates R open As another method for calculating (23), a method of rounding down the right side of equation (23) to the nearest significant digit may be applied. Furthermore, the fault resistance calculation unit 122A may apply a method of calculating a value that is less than the value of the right side of equation (23) that can be expressed as a floating-point number and is closest to the value of the right side of equation (23).

[0143] Furthermore, based on equations (6) and (12), the R open The condition of (23) is also derived. In addition, when the V phase and the W phase are simultaneously placed in an open fault state, and when the U phase and the W phase are simultaneously placed in an open fault state, the simulation converges. open The condition of (23) is the same as that of (23). In addition, when the three phases U, V, and W are simultaneously subjected to an open fault, the simulation converges. open The condition of (23) is the same as that of (23).

[0144] From the above, when simulating a state in which any two or three of the U phase, V phase, and W phase simultaneously experience an open circuit fault, the fault resistance calculation unit 122A calculates R using the above equation (24) based on the above equation (23). open can be calculated.

[0145] Here, when simulating a state in which two or three of the U phase, V phase, and W phase, expressed by the above equation (23), are open-circuit faults simultaneously, the simulation converges. open The condition is satisfied by the R openThat is, in the second embodiment, the simulation expressed by the formula (23) converges under the condition R open The condition is that the simulation converges when simulating a state in which one of the U, V, or W phases has an open circuit fault. open Therefore, the fault resistance calculation unit 122A outputs the fault resistance R according to the number of phases that simulates the open fault state. open You need to switch.

[0146] These R open Considering these conditions, the operation procedure of the fault resistance calculation unit 122A will be described with reference to Fig. 8. Fig. 8 is a flowchart showing the processing procedure of the process in which the fault resistance calculation unit according to the second embodiment calculates the fault resistance.

[0147] The fault resistance calculation unit 122A determines whether only one of the U, V, and W phases is in an open fault state based on the fault switching signal (step S11). For example, assuming that the fault switching signal is expressed by 3 bits of binary notation as shown in Fig. 4, the fault resistance calculation unit 122A determines whether or not the total value obtained by adding up the values ​​of each bit is 1, thereby determining whether or not only one phase is in an open fault state.

[0148] Alternatively, the fault resistance calculation unit 122A may prepare a table that associates the value of the failure changeover signal with the number of phases that simulates an open-circuit fault state (hereinafter referred to as the simulated phase number), and determine whether the number of phases output from the table is 1, thereby determining whether only one phase is in the open-circuit fault state. In this case, the table associates the failure changeover signal "000" with the simulated phase number "0." The table also associates the failure changeover signal "001," "010," and "100" with the simulated phase number "1." The table also associates the failure changeover signal "011," "101," and "110" with the simulated phase number "2." The table also associates the failure changeover signal "111" with the simulated phase number "3." The fault resistance calculation unit 122A determines that only one phase is in the open-circuit fault state when the simulated phase number corresponding to the value of the failure changeover signal is "1."

[0149] When it is determined that only one of the U phase, V phase, and W phase is in an open-circuit fault state (step S11, Yes), the fault resistance calculation unit 122A calculates R open is calculated (step S12).

[0150] When it is determined that any two or three of the U phase, V phase, and W phase are in an open-circuit fault state (step S11, No), the fault resistance calculation unit 122A calculates R open is calculated (step S13).

[0151] As a result, when the real-time simulation device 1 simulates an open-circuit fault state, the fault resistance calculation unit 122A calculates the fault resistance R open As a result, the real-time simulation device 1 can simulate an open-circuit fault condition under conditions that allow the simulation to converge, regardless of whether the open-circuit fault condition has one, two, or three phases.

[0152] Next, we will explain the hardware configuration of the real-time simulation device 1. The real-time simulation device 1 is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in memory, or may be dedicated hardware.

[0153] FIG. 9 is a diagram illustrating a configuration example of a processing circuit provided in the real-time simulation apparatus according to the first and second embodiments, when the processing circuit is realized by a processor and a memory. The processing circuit 90 illustrated in FIG. 9 includes a processor 91 and a memory 92. When the processing circuit 90 includes the processor 91 and the memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a real-time simulation program and stored in the memory 92. In the processing circuit 90, each function is realized by the processor 91 reading and executing the real-time simulation program stored in the memory 92. That is, the processing circuit 90 includes the memory 92 for storing a real-time simulation program that results in the processing of the real-time simulation apparatus 1. This real-time simulation program can also be said to be a program that causes the real-time simulation apparatus 1 to execute each function realized by the processing circuit 90. This real-time simulation program may be provided by a computer-readable recording medium on which the real-time simulation program is recorded, or by other means such as a communication medium.

[0154] The real-time simulation program includes an inverter simulation program for executing the functions of the inverter simulation unit 20 and a motor simulation program for executing the functions of the motor simulation unit 10. The inverter simulation program and the motor simulation program may be separate programs.

[0155] In the case of the real-time simulation apparatus 1 of the first embodiment, the real-time simulation program can also be said to be a program that causes the real-time simulation apparatus 1 to execute the processing of steps S1 to S4 in FIG. 5 and step S12 in FIG.

[0156] In addition, in the case of the real-time simulation device 1 of the second embodiment, the real-time simulation program can also be said to be a program that causes the real-time simulation device 1 to execute the processes of steps S1 to S4 in FIG. 5 and steps S11 to S13 in FIG.

[0157] Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor), etc. Furthermore, the memory 92 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (registered trademark) (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc).

[0158] 10 is a diagram showing an example of the configuration of a processing circuit provided in the real-time simulation apparatus according to the first and second embodiments, when the processing circuit is configured with dedicated hardware. The processing circuit 93 shown in FIG. 10 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 93 may be partially realized by dedicated hardware and partially realized by software or firmware. In this way, the processing circuit 93 can realize each of the above-described functions by dedicated hardware, software, firmware, or a combination thereof.

[0159] As described above, according to the second embodiment, the real-time simulation device 1 calculates R that satisfies the formula (18) when only one phase is in an open fault state. open is calculated to simulate an open circuit fault condition, the simulation can be converged and a fault in the motor's electrical circuit can be simulated.

[0160] In addition, when two or three phases are simultaneously in an open fault state, the real-time simulation device 1 calculates R open is calculated to simulate an open circuit fault condition, the simulation can be converged and a fault in the motor's electrical circuit can be simulated.

[0161] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention. [Explanation of symbols]

[0162] 1 real-time simulation device, 3 motor control device, 4 operation device, 10 motor simulation unit, 11 motor current calculation unit, 12, 12A motor resistance calculation unit, 20 inverter simulation unit, 90, 93 processing circuit, 91 processor, 92 memory, 100 simulation system, 121 motor resistance switching unit, 121u, 121v, 121w selector, 122, 122A fault resistance calculation unit, 123 memory unit, R resistance value, R open Fault resistance, R u ,R v ,R w Motor resistance.

Claims

1. A real-time simulation device used to verify a control system of a motor control device that controls a motor driven by an inverter, an inverter simulation unit that simulates the operation of the inverter to calculate a voltage signal that is a signal including a voltage value of a voltage output from the inverter based on a switching signal output from the motor control device; a motor simulation unit that simulates the operation of the motor in a state where an open circuit fault has occurred based on a fault switching signal that indicates a fault state of the motor and is input from outside the real-time simulation device, thereby calculating a current signal that is a signal including a current value of a current that flows through the motor when the motor has a fault based on the voltage signal, and outputs the current signal to the motor control device; Equipped with The motor simulation unit a motor resistance calculation unit that calculates a motor resistance corresponding to the failure changeover signal based on a motor constant representing a characteristic of the motor, a calculation period of the real-time simulation device, and the failure changeover signal; a motor current calculation unit that calculates the current signal based on the voltage signal, the motor constant, the calculation period, and the motor resistance, and outputs the current signal to the motor control device; and The motor resistance calculation unit When the fault switching signal indicates an open fault, which is a fault occurring when a wiring connecting the inverter and the motor and a phase of an electric circuit including the motor are in an open state, an upper limit value of the motor resistance is calculated based on the motor constant and the calculation period, and the motor resistance in the open fault state is calculated as a fault resistance based on the upper limit value of the motor resistance; As the motor resistance of the phase in the open fault state, the fault resistance is output to the motor current calculation unit, and as the motor resistance of the phase in which the electric circuit is in a normal state, the resistance value of the motor when the electric circuit is in a normal state is output to the motor current calculation unit. A real-time simulation device characterized by:

2. The motor resistance calculation unit calculating an upper limit value of the motor resistance according to the number of phases in which the open circuit fault has occurred among the number of phases of the motor, and calculating the fault resistance based on the upper limit value of the motor resistance; 2. The real-time simulation device according to claim 1.

3. The motor resistance calculation unit When the motor is a surface permanent magnet synchronous motor in which a permanent magnet is attached to the rotor surface of the motor, and when the open fault is to occur in only one phase, the resistance value R of the armature winding of the surface permanent magnet synchronous motor, the inductance value L of the armature winding of the surface permanent magnet synchronous motor, and the calculation period t of the real-time simulation device are s Based on this, the fault resistance is R open When the above equation is satisfied, the fault resistance is calculated to satisfy the following equation (1):

3. The real-time simulation device according to claim 2. [Equation 1]

4. The motor resistance calculation unit When the motor is a surface permanent magnet synchronous motor, if the open fault occurs simultaneously in two or three phases, the L and the t s Based on this, the fault resistance is R open When the above equation is satisfied, the fault resistance is calculated to satisfy the following equation (2):

4. The real-time simulation device according to claim 3. [Equation 2]

5. The motor resistance calculation unit a fault resistance calculation unit that calculates the fault resistance based on the calculation period and the motor constant; a motor resistance switching unit that selects either the resistance value when the motor is in a normal state or the fault resistance based on the fault switching signal, and outputs the selected resistance value as the motor resistance to the motor current calculation unit; It is equipped with 5. The real-time simulation device according to claim 1, wherein the real-time simulation device is a real-time simulation device.

6. a motor control device that controls a motor driven by the inverter; a real-time simulation device used to verify a control system of the motor control device; Equipped with The real-time simulation device an inverter simulation unit that simulates the operation of the inverter to calculate a voltage signal that is a signal including a voltage value of a voltage output from the inverter based on a switching signal output from the motor control device; a motor simulation unit that simulates the operation of the motor in a state where an open circuit fault has occurred based on a fault switching signal that indicates a fault state of the motor and is input from outside the real-time simulation device, thereby calculating a current signal that is a signal including a current value of a current that flows through the motor when the motor has a fault based on the voltage signal, and outputs the current signal to the motor control device; Equipped with The motor simulation unit a motor resistance calculation unit that calculates a motor resistance corresponding to the failure changeover signal based on a motor constant representing a characteristic of the motor, a calculation period of the real-time simulation device, and the failure changeover signal; a motor current calculation unit that calculates the current signal based on the voltage signal, the motor constant, the calculation period, and the motor resistance, and outputs the current signal to the motor control device; and The motor resistance calculation unit When the fault switching signal indicates an open fault, which is a fault occurring when a wiring connecting the inverter and the motor and a phase of an electric circuit including the motor are in an open state, an upper limit value of the motor resistance is calculated based on the motor constant and the calculation period, and the motor resistance in the open fault state is calculated as a fault resistance based on the upper limit value of the motor resistance; As the motor resistance of the phase in the open fault state, the fault resistance is output to the motor current calculation unit, and as the motor resistance of the phase in which the electric circuit is in a normal state, the resistance value of the motor when the electric circuit is in a normal state is output to the motor current calculation unit. A simulation system comprising:

7. an operation device that transmits the failure changeover signal to the real-time simulation device; 7. The simulation system according to claim 6.

8. the motor control device outputs the switching signal corresponding to the current signal to the real-time simulation device; 8. The simulation system according to claim 6 or 7.

9. A real-time simulation method used to verify a control system of a motor control device that controls a motor driven by an inverter, comprising: an inverter simulation step in which a real-time simulation device simulates the operation of the inverter to calculate a voltage signal that is a signal including a voltage value of a voltage output from the inverter based on a switching signal output from the motor control device; a motor simulation step in which the real-time simulation device simulates the operation of the motor in a state where an open-circuit fault has occurred based on a fault switching signal that indicates a fault state of the motor and is input from outside the real-time simulation device, thereby calculating a current signal that is a signal including a current value of a current that flows through the motor when the motor has a fault based on the voltage signal, and outputting the current signal to the motor control device; Including, The motor simulation step includes: a motor resistance calculation step in which the real-time simulation device calculates a motor resistance corresponding to the failure changeover signal based on a motor constant representing a characteristic of the motor, a calculation period of the real-time simulation device, and the failure changeover signal; a motor current calculation step in which the real-time simulation device calculates the current signal based on the voltage signal, the motor constant, the calculation period, and the motor resistance, and outputs the current signal to the motor control device; Including, The motor resistance calculation step is performed by the real-time simulation device. When the fault switching signal indicates an open fault, which is a fault occurring when a wiring connecting the inverter and the motor and a phase of an electric circuit including the motor are in an open state, an upper limit value of the motor resistance is calculated based on the motor constant and the calculation period, and the motor resistance in the open fault state is calculated as a fault resistance based on the upper limit value of the motor resistance; The fault resistance is output as the motor resistance of the phase in the open fault state, and the resistance value of the motor when the electric circuit is in the normal state is output as the motor resistance of the phase in the normal state of the electric circuit. A real-time simulation method comprising:

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