Vehicle drive control device and control method for vehicle drive control device

Abstract

To suppress overcurrent of switching elements that configure a motor driver.SOLUTION: A vehicle drive control device 100 comprises a motor driver 14, a contactor 12, a capacitor 13, and a control device 3. The control device 3 comprises: a voltage acquisition unit 311 that acquires a capacitor voltage VC; a current acquisition unit 312 that acquires a current value IU, a current value IV, and a current value IW flowing in respective coils of a motor 15; and a voltage control unit 314 and a voltage control circuit 33 that, when the contactor 12 is in an OFF state, calculate a control angle θS that is a rotation angle θ for controlling the motor 15, and control the motor driver 14 on the basis of the current value IU, the current value IV, the current value IW, and the control angle θS to hold the capacitor voltage VC at a value equal to or less than a predetermined voltage.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle drive control device and a control method for a vehicle drive control device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is known a technique relating to a vehicle drive control device that is mounted on a vehicle and driven by a motor. For example, Patent Document 1 describes a motor driver that short-circuits the AC output terminals of the motor driver (inverter) when an abnormality occurs. It also discloses that when the contactor is turned off while the motor is being driven, if the motor induced voltage rises, various components such as the control circuit are activated to perform control so that the withstand voltage is not exceeded. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-183702 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when an abnormality occurs in the vehicle and the AC output terminals of the motor driver are shorted, a large motor current may be generated depending on the type of motor. Therefore, it is necessary to suppress the overcurrent in order to prevent damage to the switching elements that make up the motor driver. An object of the present invention is to suppress overcurrent in a switching element that constitutes a motor driver. [Means for solving the problem]

[0005] One aspect of the present invention is a motor driver that is configured with switching elements and controls a motor that drives a vehicle; an angle sensor for detecting a rotation angle of the motor;a switch disposed between a power supply and the motor driver; a capacitor disposed between a positive terminal and a negative terminal of the motor driver; and a control device for controlling the motor driver, the control device including a voltage acquisition unit that acquires a capacitor voltage, and a current acquisition unit that acquires a current value flowing through each coil of the motor; When the rotation angle of the motor is not input from the angle sensor, the switch is turned off; The switch is off was made and a voltage control unit that calculates a control angle, which is a rotation angle for controlling the motor, and controls the motor driver based on the current value and the control angle to maintain the capacitor voltage at or below a predetermined voltage when the current value and the control angle are exceeded. [Effects of the Invention]

[0006] According to the present invention, it is possible to suppress overcurrent in a switching element that constitutes a motor driver. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a vehicle drive control device. [Figure 2] FIG. 2 is a diagram showing an example of the configuration of a control device. [Figure 3] FIG. 2 is a diagram showing an example of the configuration of a voltage control circuit. [Figure 4] 10 is a graph showing an example of a capacitor voltage. [Figure 5] 10 is a flowchart showing an example of processing by a control device. [Figure 6] 10 is a flowchart showing an example of processing by a control device. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0009] [1. Configuration of vehicle drive control device] First, the configuration of the vehicle drive control device 100 will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the configuration of the vehicle drive control device 100. As shown in FIG. 1, the vehicle drive control device 100 includes a motor drive circuit 1, a driver drive circuit 2, and a control device 3. The motor drive circuit 1 is a circuit for driving a motor 15, and includes a battery 11, a contactor 12, a capacitor 13, and a motor driver .

[0010] The battery 11 supplies power to the motor 15 via the motor driver 14 . The battery 11 corresponds to an example of a "power source." The contactor 12 is disposed between the battery 11 and the motor driver 14. The contactor 12 is turned off when an abnormality occurs in the vehicle. When the contactor 12 is turned off, the supply of power from the battery 11 to the motor driver 14 is cut off. In this embodiment, a case will be described in which the contactor 12 is turned off when the rotation angle θ and the rotation angular velocity ω are not input to the control device 3. The contactor 12 corresponds to an example of a "switch."

[0011] The capacitor 13 is disposed between the positive terminal 14P and the negative terminal 14M of the motor driver 14. When the contactor 12 is turned off, the capacitor 13 applies a capacitor voltage VC between the positive terminal 14P and the negative terminal 14M of the motor driver 14. The capacitor voltage VC is detected by the voltage sensor SV.

[0012] When the contactor 12 is turned off, in order to power the motor 15, that is, to drive the motor 15, power is supplied from the capacitor 13 to the motor 15 via the motor driver 14. In this case, the capacitor voltage VC drops. Furthermore, when the contactor 12 is turned off and the motor 15 is in a regenerative operation, power is regenerated from the motor 15 to the capacitor 13 via the motor driver 14. In this case, the capacitor voltage VC increases.

[0013] The motor driver 14 is configured with MOSFETs (Metal-Oxide-Semiconductor Field Effect Transistors) 14U1, 14U2, 14V1, 14V2, 14W1, and 14W2. Each of these six MOSFETs is turned on and off based on an instruction from the driver driving circuit 2. The MOSFET corresponds to an example of a "switching element."

[0014] The motor 15 is, for example, a three-phase synchronous motor using a permanent magnet. As shown in Fig. 1, the motor 15 includes a motor coil 15U, a motor coil 15V, and a motor coil 15W. The motor 15 drives the vehicle with power supplied from the battery 11 via the motor driver 14. The vehicle is, for example, a motorbike (motorcycle).

[0015] In this embodiment, the vehicle is described as a motorbike (two-wheeled motor vehicle), but is not limited to this. The vehicle may be, for example, a four-wheeled passenger car or a four-wheeled large vehicle. The vehicle may also be, for example, a work vehicle such as a tractor.

[0016] A voltage sensor SV is disposed on the capacitor 13. The voltage sensor SV detects a capacitor voltage VC, which is the voltage across the capacitor 13. The voltage sensor SV outputs the detected capacitor voltage VC to the control device 3.

[0017] A current sensor SC is disposed between the motor driver 14 and the motor 15. The current sensor SC detects the value of a current flowing through each coil of the motor 15. That is, the current sensor SC detects the current value IU flowing through the motor coil 15U, the current value IV flowing through the motor coil 15V, and the current value IW flowing through the motor coil 15W. The current sensor SC outputs the detected current values ​​IU, IV, and IW to the control device 3. The arrangement of the current sensor CS is not limited to this. For example, the current sensor SC may be arranged between the lower MOSFETs (MOSFET 14U2, MOSFET 14V2, and MOSFET 14W2) and the negative terminal 14M.

[0018] An angle sensor SA is provided on the motor 15. The angle sensor SA is configured with a so-called resolver, a Hall element, or the like, and detects the rotation angle θ and rotation angular velocity ω of the motor 15. The angle sensor SA outputs the detected rotation angle θ and rotation angular velocity ω to the control device 3.

[0019] In this embodiment, a description will be given of the control of the capacitor voltage VC when the rotation angle θ and the rotation angular velocity ω are not input to the control device 3. The cases when the rotation angle θ and the rotation angular velocity ω are not input to the control device 3 include, for example, when the angle sensor SA breaks down, or when the signal line between the angle sensor SA and the control device 3 is broken, etc. In this embodiment, a case will be described in which the rotation angle θ and the rotation angular velocity ω are not input to the control device 3, and therefore the angle sensor SA is indicated by a broken line in FIG. Furthermore, when the rotation angle θ and the rotation angular velocity ω are not input to the control device 3, the control device 3 turns the contactor 12 off.

[0020] The driver drive circuit 2 controls the motor driver 14 in accordance with instructions from the control device 3. That is, the driver drive circuit 2 controls the on / off of each of the six MOSFETs that make up the motor driver 14 in accordance with instructions from the control device 3.

[0021] The control device 3 controls the driver driving circuit 2 based on the capacitor voltage VC, the current value IU, the current value IV, the current value IW, the rotation angle θ, and the rotation angular velocity ω. Furthermore, when the rotation angle θ and the rotation angular velocity ω are not input to the control device 3, the control device 3 controls the driver driving circuit 2 based on the capacitor voltage VC, the current value IU, the current value IV, the current value IW, the control angle θS, and the control angular velocity ωS. When the contactor 12 is off, the control device 3, for example, performs field-weakening control on the motor 15. Furthermore, the control device 3, for example, controls the motor 15 so as to maintain the capacitor voltage VC at or below a predetermined voltage. The predetermined voltage is set to a value smaller than the withstand voltage VCM of the MOSFET that constitutes the motor driver 14. The control device 3, the control angle θS, and the control angular velocity ωS will be further described with reference to FIGS.

[0022] [2. Control device configuration] Next, the configuration of the control device 3 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of the control device 3. The control device 3 controls the motor 15 via the driver driving circuit 2 and the motor driver 14 based on the detection results of the voltage sensor SV, the current sensor SC, and the angle sensor SA. The control device 3 is configured by, for example, an ECU (Electronic Control Unit). The control device 3 includes a processor 31, a memory 32, and a voltage control circuit 33. When the control device 3 cannot obtain the detection result of the angle sensor SA, the voltage control circuit 33 calculates a control angular velocity ω, which is a rotational angular velocity ω for calculating the control angle θ, and a control angle θ, which is a rotational angle θ based on the control angular velocity ω, based on the difference ΔVC between the capacitor voltage VC and the target voltage VCA. The control angle θ is the rotational angle θ used to control the motor 15. The voltage control circuit 33 constitutes a part of the "voltage control section." Voltage control circuit 33 will be further described in the description of voltage control section 314 and further described with reference to FIG.

[0023] The memory 32 is a storage device that non-volatilely stores programs, data, etc. executed by the processor 31. The memory 32 is configured by a semiconductor storage element such as a magnetic storage device or a flash ROM (Read Only Memory), or other types of non-volatile storage device. The memory 32 may also include a RAM (Random Access Memory) that configures the work area of ​​the processor 31. The memory 32 stores data processed by the control device 3 and a control program 321 executed by the processor 31.

[0024] The processor 31 may be configured as a single processor, or multiple processors may function as the processor 31. The processor 31 executes a control program 321 to control the motor 15 via the driver driving circuit 2 and the motor driver 14. The control device 3 includes a voltage acquisition unit 311, a current acquisition unit 312, an angle acquisition unit 313, a voltage control unit 314, and an angle storage unit 322. Specifically, the processor 31 of the control device 3 executes a control program 321 to function as the voltage acquisition unit 311, the current acquisition unit 312, the angle acquisition unit 313, and the voltage control unit 314. The processor 31 of the control device 3 also executes the control program 321 to cause the memory 32 to function as the angle storage unit 322.

[0025] The angle storage unit 322 stores the rotation angle θ and the rotation angular velocity ω. The rotation angle θ and the rotation angular velocity ω are stored in the angle storage unit 322 by the angle acquisition unit 313. The rotation angle θ and the rotation angular velocity ω are also read out by the voltage control unit 314. In this embodiment, the angle storage unit 322 stores N rotation angles θ and N rotation angular velocities ω. In the following description, the N rotation angles θ will be referred to as rotation angle θ(1), rotation angle θ(2), . . ., rotation angle θ(N-1), and rotation angle θ(N). Furthermore, the N rotation angular velocities ω will be referred to as rotation angular velocity ω(1), rotation angular velocity ω(2), . . ., rotation angular velocity ω(N-1), and rotation angular velocity ω(N). The number N is, for example, 1000.

[0026] Furthermore, every time the angle acquisition unit 313 detects the rotation angle θ and the rotation angular velocity ω, it updates the rotation angle θ and the rotation angular velocity ω stored in the angle storage unit 322. Note that if the angle acquisition unit 313 can no longer detect the rotation angle θ and the rotation angular velocity ω, it will no longer update the rotation angle θ and the rotation angular velocity ω stored in the angle storage unit 322. For example, when the angle acquisition unit 313 detects the rotation angle θ and the rotation angular velocity ω every time ΔT, and the angle acquisition unit 313 detects the rotation angle θ and the rotation angular velocity ω at time TA, the following rotation angle θ and rotation angular velocity ω are stored in the angle storage unit 322. The time ΔT is, for example, several tens of μsec to several hundreds of μsec.

[0027] That is, rotation angle θ(N) is the rotation angle θ detected at time TA, rotation angle θ(N-1) is the rotation angle θ detected at time (TA-ΔT), rotation angle θ(1) is the rotation angle θ detected at time (TA-ΔT×(N-1)), and rotation angle θ(2) is the rotation angle θ detected at time (TA-ΔT×(N-2)). Similarly, rotational angular velocity ω(N) is the rotational angular velocity ω detected at time TA, and rotational angular velocity ω(N-1) is the rotational angular velocity ω detected at time (TA-ΔT). Furthermore, rotational angular velocity ω(1) is the rotational angular velocity ω detected at time (TA-ΔT×(N-1)), and rotational angular velocity ω(2) is the rotational angular velocity ω detected at time (TA-ΔT×(N-2)).

[0028] The voltage acquisition unit 311 acquires the capacitor voltage VC from the voltage sensor SV. The capacitor voltage VC is the voltage across the capacitor 13.

[0029] The current acquisition unit 312 acquires the current values ​​IU, IV, and IW from the current sensor SC. The current value IU is the value of the current flowing through the motor coil 15U. The current value IV is the value of the current flowing through the motor coil 15V. The current value IW is the value of the current flowing through the motor coil 15W.

[0030] The angle acquisition unit 313 acquires the rotation angle θ and the rotation angular velocity ω from the angle sensor SA. The rotation angle θ is the rotation angle of the motor 15, and the rotation angular velocity ω is the rotation angular velocity of the motor 15. The angle acquisition unit 313 also stores the rotation angle θ and the rotation angular velocity ω acquired from the angle sensor SA in the angle storage unit 322. Furthermore, every time the angle acquisition unit 313 detects the rotation angle θ and the rotation angular velocity ω, the angle acquisition unit 313 updates the rotation angle θ and the rotation angular velocity ω stored in the angle storage unit 322. Note that if the angle acquisition unit 313 can no longer detect the rotation angle θ and the rotation angular velocity ω, the angle acquisition unit 313 will no longer update the rotation angle θ and the rotation angular velocity ω stored in the angle storage unit 322. Furthermore, when the angle acquisition unit 313 is no longer able to detect the rotation angle θ and the rotation angular velocity ω, the control device 3 turns off the contactor 12.

[0031] In this embodiment, a case will be described in which the angle acquisition unit 313 acquires the rotation angle θ and the rotation angular velocity ω from the angle sensor SA, but this is not limiting. For example, the angle acquisition unit 313 may acquire the rotation angle θ from the angle sensor SA and calculate the rotation angular velocity ω from the rotation angle θ.

[0032] When the contactor 12 is off, the voltage control unit 314 calculates a control angle θS, which is the control rotation angle θ of the motor 15, and controls the motor driver 14 based on the current values ​​IU, IV, IW, and the control angle θS, thereby maintaining the capacitor voltage VC at or below a predetermined voltage. As will be described with reference to FIG. 3, the voltage control circuit 33 calculates a control angle θS, which is the rotation angle θ of the motor 15 for control. For example, when the capacitor voltage VC is greater than the target voltage VCA, the voltage control circuit 33 controls the control angle θS to be larger, and when the capacitor voltage VC is smaller than the target voltage VCA, the voltage control circuit 33 controls the control angle θS to be smaller.

[0033] The target voltage VCA is set, for example, to a voltage value that is less than the withstand voltage VCM of the MOSFET that constitutes the motor driver 14 and is equal to or greater than a voltage value that allows field-weakening control of the motor 15. The target voltage VCA is set to a voltage that can drive the motor 15 or higher. For example, if the target voltage VCA is set to a voltage value that can perform field-weakening control of the motor 15 or higher, the motor 15 can be subjected to field-weakening control. In this case, the field-weakening control can prevent the capacitor voltage VC from becoming excessive, thereby suppressing overcurrent in the MOSFET.

[0034] In addition, the voltage control circuit 33 calculates the control angle θS by setting the rotation angle θ stored in the angle acquisition unit 313 as the initial value θ0 of the control angle θS and setting the rotation angular velocity ω stored in the angle acquisition unit 313 as the initial value ω0 of the control angular velocity ωS. For example, the voltage control unit 314 sets the rotation angle θ(N) immediately before an abnormality occurs in the angle sensor SA, among the rotation angles θ stored in the angle acquisition unit 313, to the initial value θ0 of the control angle θS in the voltage control circuit 33. Furthermore, the voltage control unit 314 sets the rotation angular velocity ω(N) immediately before an abnormality occurs in the angle sensor SA, among the rotation angular velocities ω stored in the angle acquisition unit 313, to the initial value ω0 of the control angular velocity ωS in the voltage control circuit 33. Then, the voltage control circuit 33 calculates the control angle θS.

[0035] In this embodiment, the voltage control circuit 33 sets the rotation angle θ(N) immediately before an abnormality occurs in the angle sensor SA as the initial value θ0 of the control angle θS, and sets the rotation angular velocity ω(N) immediately before an abnormality occurs in the angle sensor SA as the initial value ω0 of the control angular velocity ωS, but is not limited to this. For example, the voltage control circuit 33 may set the rotation angle θ(N) immediately before the contactor 12 is turned off as the initial value θ0 of the control angle θS, and the rotation angular velocity ω(N) immediately before the contactor 12 is turned off as the initial value ω0 of the control angular velocity ωS. In this case, the rotation angle θ(N) and the rotation angular velocity ω(N) immediately before the contactor 12 is turned off are set as the initial values ​​θ0 and ω0, respectively, so the control angle θS can be calculated with little error. This improves the calculation accuracy of the control angle θS. This allows the capacitor voltage VC to be appropriately controlled.

[0036] In addition, the voltage control unit 314 calculates the q-axis current JQ and the d-axis current JD using the control angle θS output by the voltage control circuit 33 and the current values ​​IU, IV, and IW acquired by the current acquisition unit 312. The voltage control unit 314 calculates the q-axis current JQ, for example, using the following equation (1). JQ=[cos(θS)×IU+cos(θS-2π / 3)×IV +cos(θS+2π / 3)×IW]×(2 / 3) 1 / 2 (1) Furthermore, the voltage control unit 314 calculates the d-axis current JD, for example, using the following equation (2). JD=[-sin(θS)×IU-sin(θS-2π / 3)×IV -sin(θS+2π / 3)×IW]×(2 / 3) 1 / 2 (2) The voltage control unit 314 outputs the q-axis current JQ and the d-axis current JD to the driver drive circuit 2. The driver drive circuit 2 controls the motor driver 14 so that the current value IQ of the q-axis current JQ becomes the target value IQA and the current value ID of the d-axis current JD becomes the target value IDA. Note that the target value IQA of the q-axis current JQ and the target value IDA of the d-axis current JD each use a predetermined value. For example, the target value IQA of the q-axis current JQ is "0 A" and the target value IDA of the d-axis current JD is "-100 A."

[0037] [3. Configuration of voltage control circuit] Next, the configuration of the voltage control circuit 33 will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the configuration of the voltage control circuit 33. 3, the voltage control circuit 33 constitutes a part of a feedback control system. The voltage control circuit 33 includes a differentiator 331, a PID controller 332, an adder 333, an integrator 334, and an adder 335.

[0038] A differentiator 331 calculates a difference ΔVC between the target voltage VCA and the capacitor voltage VC. The target voltage VCA is set by the voltage control unit 314. The capacitor voltage VC is input from the voltage sensor SV. The PID controller 332 receives the difference ΔVC and outputs a change amount ΔωS in the control angular velocity ωS. The PID controller 332 includes a P controller, an I controller, and a D controller. A P gain GP is set in the P controller, an I gain GI is set in the I controller, and a D gain GD is set in the D controller. The P controller outputs a value obtained by multiplying the P gain GP and the difference ΔVC. The I controller outputs a value obtained by multiplying the I gain GI and the time integral value of the difference ΔVC. The D controller outputs a value obtained by multiplying the D gain GD and the time derivative value of the difference ΔVC. The PID controller 332 outputs the sum of the outputs from the P controller, I controller, and D controller as the change amount ΔωS in the control angular velocity ωS.

[0039] The adder 333 adds the amount of change ΔωS in the control angular velocity ωS output from the PID controller 332 to the initial value ω0, and outputs the control angular velocity ωS. The integrator 334 integrates the control angular velocity ωS with respect to time and outputs the amount of change ΔθS in the control angle θS. The adder 335 adds the amount of change ΔθS in the control angle θS output from the integrator 334 to the initial value θ0, and outputs the control angle θS.

[0040] The voltage control unit 314 calculates the q-axis current JQ and the d-axis current JD using the control angle θS output from the adder 335 and the current values ​​IU, IV, and IW acquired by the current acquisition unit 312. In Fig. 3, this process is referred to as an axial current calculation process. The axial current calculation process is performed by the voltage control unit 314 using the above equations (1) and (2).

[0041] The driver drive circuit 2 controls the motor driver 14 so that the q-axis current JQ becomes the target value IQA. The motor 15 operates according to the control of the motor driver 14. The amount of charge stored in the capacitor 13 changes in accordance with the operation of the motor 15, and the capacitor voltage VC changes. The voltage sensor SV detects the capacitor voltage VC, and the detected voltage is input to a differentiator 331.

[0042] In this way, by setting appropriate values ​​for the P gain GP, ​​the I gain GI, and the D gain GD in the PID controller 332, the feedback control system shown in FIG. 3 operates so that the capacitor voltage VC converges to the target voltage VCA.

[0043] In this embodiment, a case will be described in which the PID controller 332 performs PID control, but the present invention is not limited to this. The PID controller 332 may perform at least I control. For example, the PID controller 332 may perform PI control, or the PID controller 332 may perform ID control.

[0044] [4. Capacitor voltage] Next, an example of the change in the capacitor voltage VC controlled by the voltage control section 314 will be described with reference to Fig. 4. Fig. 4 is a graph showing an example of the capacitor voltage VC. 4, the horizontal axis represents time T, and the vertical axis represents the capacitor voltage V C. Graph G1 shows the change in the capacitor voltage V C over time. As shown in graph G1, the capacitor voltage V C is controlled to converge to the target voltage V C A. The target voltage VCA is set to a value equal to or lower than the withstand voltage VCM of the MOSFET.

[0045] In the range from time T0 to time T2, capacitor voltage VC is greater than target voltage VCA, so voltage control unit 314 controls control angle θS in the powering direction using voltage control circuit 33. As a result, the increase per unit time of capacitor voltage VC decreases from time T0 to time T1, and capacitor voltage VC decreases from time T1 to time T2. As such, because the feedback control system (particularly the motor coil) has inertia, it takes the time from time T0 to time T1 for capacitor voltage VC to decrease. Furthermore, in the range from time T2 to time T4, capacitor voltage VC is smaller than target voltage VCA, so voltage control unit 314 controls control angle θS in the regeneration direction using voltage control circuit 33. As a result, the amount of decrease per unit time of capacitor voltage VC decreases from time T2 to time T3, and capacitor voltage VC increases from time T3 to time T4. As such, because the feedback control system (particularly the motor coil) has inertia, it takes the time from time T2 to time T3 for capacitor voltage VC to increase.

[0046] Furthermore, in the range from time T4 to time T6, capacitor voltage VC is greater than target voltage VCA, so voltage control unit 314 controls control angle θS in the powering direction using voltage control circuit 33. As a result, the increase rate per unit time of capacitor voltage VC decreases from time T4 to time T5, and capacitor voltage VC decreases from time T5 to time T6. Furthermore, in the range from time T6 to time T8, capacitor voltage VC is smaller than target voltage VCA, so voltage control unit 314 controls control angle θS in the regeneration direction using voltage control circuit 33. As a result, the amount of decrease per unit time of capacitor voltage VC decreases from time T6 to time T7, and capacitor voltage VC increases from time T7 to time T8. In this way, the voltage control unit 314 controls the motor 15 so that the capacitor voltage VC converges to the target voltage VCA by repeatedly controlling the motor 15 in the powering direction and in the regenerative direction.

[0047] [5. Processing of control device] Next, the processing of the control device 3 will be described with reference to Fig. 5 and Fig. 6. Each of Fig. 5 and Fig. 6 is a flowchart showing an example of the processing of the control device 3. First, in step S101, the angle acquisition unit 313 acquires a rotation angle θ and a rotation angular velocity ω from the angle sensor SA. The rotation angle θ is the rotation angle of the motor 15, and the rotation angular velocity ω is the rotation angular velocity of the motor 15. Next, in step S103, the angle acquisition unit 313 stores the rotation angle θ and the rotation angular velocity ω acquired in step S101 in the angle storage unit 322. Next, in step S105, the voltage control unit 314 determines whether the contactor 12 is off. If the voltage control unit 314 determines that the contactor 12 is not off (step S105; NO), the process goes to a standby state. If the voltage control unit 314 determines that the contactor 12 is off (step S105; YES), the process proceeds to step S107.

[0048] Then, in step S107, the angle acquisition unit 313 determines whether or not there are input signals of the rotation angle θ and the rotation angular velocity ω from the angle sensor SA. If the angle acquisition unit 313 determines that there are input signals of the rotation angle θ and the rotation angular velocity ω from the angle sensor SA (step S107; NO), the control device 3 executes control based on the rotation angle θ and the rotation angular velocity ω. Thereafter, the processing ends. If the angle acquisition unit 313 determines that there are no input signals of the rotation angle θ and the rotation angular velocity ω from the angle sensor SA (step S107; YES), the processing proceeds to step S109. In step S109, the voltage control unit 314 sets the rotation angle θ(N) immediately before an abnormality occurs in the angle sensor SA, among the rotation angles θ stored in the angle acquisition unit 313, as the initial value θ0 of the control angle θS in the voltage control circuit 33. Next, in step S111, the voltage control unit 314 sets the rotational angular velocity ω(N) immediately before an abnormality occurs in the angle sensor SA, among the rotational angular velocities ω stored in the angle acquisition unit 313, as the initial value ω0 of the control angular velocity ωS in the voltage control circuit 33. Thereafter, the process proceeds to step S113 in FIG.

[0049] 6, in step S113, the voltage acquisition unit 311 acquires the capacitor voltage VC from the voltage sensor SV. The capacitor voltage VC is the voltage across the capacitor 13. Next, in step S115, the voltage control circuit 33 calculates the difference ΔVC between the target voltage VCA and the capacitor voltage VC. Next, in step S117, the voltage control circuit 33 calculates the control angular velocity ωS. Next, in step S119, the voltage control unit 314 determines whether the control angular velocity ωS is equal to or greater than a threshold value. The threshold value is a preset value. For example, the threshold value is 10 rpm. If the voltage control unit 314 determines that the control angular velocity ω is not equal to or greater than the threshold value (step SS119; NO), the process proceeds to step S129. If the voltage control unit 314 determines that the control angular velocity ω is equal to or greater than the threshold value (step SS119; YES), the process proceeds to step S121.

[0050] Then, in step S121, the voltage control circuit 33 calculates the control angle θS from the control angular velocity ωS. Next, in step S123, the current acquisition unit 312 acquires the current values ​​IU, IV, and IW from the current sensor SC. The current value IU is the value of the current flowing through the motor coil 15U. The current value IV is the value of the current flowing through the motor coil 15V. The current value IW is the value of the current flowing through the motor coil 15W. Next, in step S125, the voltage control unit 314 calculates the q-axis current JQ and the d-axis current JD using the control angle θS and the current values ​​IU, IV, and IW. Then, the voltage control circuit 33 outputs the q-axis current JQ and the d-axis current JD to the driver drive circuit 2. Next, in step S127, the driver drive circuit 2 executes drive control (so-called vector control) of the motor 15 based on the q-axis current JQ and the d-axis current JD. The driver drive circuit 2 controls the q-axis current JQ so that the current value IQ of the q-axis current JQ matches the target value IQA, and controls the d-axis current JD so that the current value ID of the d-axis current JD matches the target value IDA. Then, the process returns to step S113.

[0051] If the determination in step S119 is NO, in step S129, the voltage control unit 314 sets the target value IQA of the q-axis current JQ and the target value IDA of the d-axis current JD to zero A. Next, in step S131, the voltage control section 314 instructs the driver driving circuit 2 to turn off all MOSFETs of the motor driver 14 and end the current control, after which the process ends.

[0052] Step S113 corresponds to an example of a “voltage acquisition step.” Step S123 corresponds to an example of a “current acquisition step.” Steps S117, S1121, S123, and S125 correspond to an example of a “voltage control step.”

[0053] [6. Composition and Effects] As described above, the vehicle drive control device 100 according to this embodiment includes a motor driver 14 configured with MOSFETs and controlling the motor 15 that drives the vehicle, a contactor 12 arranged between the battery 11 and the motor driver 14, a capacitor 13 arranged between the positive terminal 14P and the negative terminal 14M of the motor driver 14, and a control device 3 that controls the motor driver 14. The control device 3 includes a voltage acquisition unit 311 that acquires the capacitor voltage VC, a current acquisition unit 312 that acquires the current values ​​IU, IV, and IW flowing through each coil of the motor 15, and a voltage control unit 314 and a voltage control circuit 33 that calculate a control angle θS, which is a control rotation angle θ of the motor 15 when the contactor 12 is off, and control the motor driver 14 based on the current value IU, the current value IV, the current value IW, and the control angle θS, to maintain the capacitor voltage VC at or below a predetermined voltage. According to this configuration, when contactor 12 is off, control angle θS, which is the control rotation angle θ of motor 15, is calculated, and motor driver 14 is controlled based on current values ​​IU, IV, and IW, and control angle θS, thereby making it possible to maintain capacitor voltage VC at or below a predetermined voltage. Therefore, by setting the predetermined voltage to an appropriate value, it is possible to suppress overcurrent in the MOSFET that constitutes motor driver 14.

[0054] Furthermore, in the vehicle drive control device 100, the voltage control circuit 33 controls the control angle θS to be larger when the capacitor voltage VC is larger than the target voltage VCA, and controls the control angle θS to be smaller when the capacitor voltage VC is smaller than the target voltage VCA. According to this configuration, when the capacitor voltage VC is greater than the target voltage VCA, the control angle θS is controlled to increase, thereby controlling the motor 15 in the powering direction. Therefore, power is consumed by the motor 15, and the capacitor voltage VC decreases. Furthermore, when the capacitor voltage VC is smaller than the target voltage VCA, the control angle θS is controlled to decrease, thereby controlling the motor 15 in the regenerative direction. Therefore, the power generated by the motor 15 is regenerated in the capacitor 13, and the capacitor voltage VC increases. Therefore, the capacitor voltage VC can be controlled to converge to the target voltage VCA.

[0055] The vehicle drive control device 100 also includes an angle sensor SA that detects the rotation angle θ and rotation angular velocity ω of the motor 15, an angle acquisition unit 313 that acquires the rotation angle θ and the rotation angular velocity ω from the angle sensor SA, and an angle memory unit 322 that stores the rotation angle θ and the rotation angular velocity ω, and the voltage control unit 314 sets the rotation angle θ as the initial value θ0 of the control angle θS and sets the rotation angular velocity ω as the initial value ω0 of the control angular velocity ωS, which is an estimated value of the rotation angular velocity ω of the motor 15, in the voltage control circuit 33, and calculates the control angle θS. The rotation angle θ is set as the initial value θ of the control angle θ, and the rotation angular velocity ω is set as the initial value ω of the control angular velocity ω, so the initial values ​​θ and ω can be set appropriately, thereby improving the control accuracy of the control device 3.

[0056] Furthermore, in the vehicle drive control device 100, the voltage control unit 314 instructs the voltage control circuit 33 to set the rotational angle θ(N) immediately before an abnormality occurs in the angle sensor SA, out of the rotational angle θ and the rotational angular velocity ω, as the initial value θ0 of the control angle θS, and to set the rotational angular velocity ω(N) immediately before an abnormality occurs in the angle sensor SA as the initial value ω0 of the control angular velocity ωS, and to calculate the control angle θS. The rotation angle θ(N) immediately before an abnormality occurs in the angle sensor SA is set as the initial value θ0 of the control angle θS, and the rotation angular velocity ω(N) immediately before an abnormality occurs in the angle sensor SA is set as the initial value ω0 of the control angular velocity ωS, so that the initial values ​​θ0 and ω0 can be set to appropriate values, thereby improving the control accuracy of the control device 3.

[0057] Furthermore, in the vehicle drive control device 100, the voltage control unit 314 instructs the voltage control circuit 33 to set the rotational angle θ(N) immediately before the contactor 12 is turned off, out of the rotational angle θ and the rotational angular velocity ω, as the initial value θ0 of the control angle θS, and sets the rotational angular velocity ω(N) immediately before the contactor 12 is turned off as the initial value ω0 of the control angular velocity ωS, and calculates the control angle θS. The rotation angle θ(N) immediately before the contactor 12 turns off is set as the initial value θ0 of the control angle θS, and the rotation angular velocity ω(N) immediately before the contactor 12 turns off is set as the initial value ω0 of the control angular velocity ωS, so the initial values ​​θ0 and ω0 can be set to appropriate values, thereby improving the control accuracy of the control device 3.

[0058] The control method for a vehicle drive control device 100 according to this embodiment is a control method for a vehicle drive control device 100 that includes a motor driver 14 configured with MOSFETs and controlling a motor 15 that drives the vehicle, a contactor 12 arranged between a battery 11 and the motor driver 14, a capacitor 13 arranged between a positive terminal 14P and a negative terminal 14M of the motor driver 14, and a control device 3 that controls the motor driver 14, in which the control device 3 executes a voltage acquisition step of acquiring a capacitor voltage VC, a current acquisition step of acquiring current values ​​IU, IV, and IW flowing through each coil of the motor 15, and a voltage control step of calculating a control angle θS, which is a rotation angle for controlling the motor 15 when the contactor 12 is off, and controlling the motor driver 14 based on the current value IU, current value IV, current value IW, and control angle θS, to maintain the capacitor voltage VC at or below a predetermined voltage. According to this configuration, when contactor 12 is off, control angle θS, which is the control rotation angle θ of motor 15, is calculated, and motor driver 14 is controlled based on current values ​​IU, IV, and IW, and control angle θS, thereby making it possible to maintain capacitor voltage VC at or below a predetermined voltage. Therefore, by setting the predetermined voltage to an appropriate value, it is possible to suppress overcurrent in the MOSFET that constitutes motor driver 14.

[0059] 7. Other Embodiments The present invention is not limited to the configurations of the above-described embodiments, and can be implemented in various forms without departing from the spirit of the invention.

[0060] For example, in the above embodiment, the "switching element" is a MOSFET, but is not limited to this. The "switching element" may be, for example, a power transistor or an IGBT (Insulated Gate Bipolar Transistor).

[0061] In the above embodiment, the "voltage control unit" is described as being configured from the voltage control unit 314 and the voltage control circuit 33, but this is not limiting. The voltage control circuit 33 may be configured as a part of the voltage control unit 314. In other words, the function of the voltage control circuit 33 may be realized as a functional unit by the processor 31.

[0062] At least some of the functional blocks shown in Figure 2 may be realized by hardware, or may be realized by a combination of hardware and software, and are not limited to a configuration in which independent hardware resources are arranged as shown in the figure. The control program 321 executed by the processor 31 of the control device 3 of the vehicle drive control device 100 is stored in the memory 32, but the control program 321 may also be stored in an external HDD or the like.

[0063] The processing units in the flowcharts shown in Figures 5 and 6 are divided according to the main processing content to facilitate understanding of the processing of the control device 3 of the vehicle drive control device 100. The embodiment is not limited by the way in which the processing units are divided or the names of the processing units shown in the flowcharts of Figures 5 and 6. The processing of the control device 3 can be divided into more processing units depending on the processing content, or one processing unit can be divided so that it includes more processes. The processing order of the above flowcharts is not limited to the example shown in the figures.

[0064] The control method of the control device 3 can be realized by having the processor 31 of the control device 3 execute a control program 321 corresponding to the control method of the control device 3. The control program 321 can be recorded on a computer-readable recording medium. The recording medium can be a magnetic or optical recording medium or a semiconductor memory device. Specifically, examples include portable or fixed recording media such as flexible disks, CD-ROMs (Compact Disk Read Only Memory), DVDs (Digital Versatile Discs), Blu-ray (registered trademark) Discs, magneto-optical disks, flash memories, and card-type recording media. The recording medium may be a non-volatile storage device such as a RAM, a ROM, or a HDD, which is an internal storage device provided in the control device 3. A control program 321 corresponding to the control method of the control device 3 is stored in a server device or the like, and the control method of the control device 3 can be realized by downloading the control program 321 from the server device to the control device 3.

[0065] 8. Configurations Supported by the Above Embodiments The above embodiment supports the following configurations.

[0066] (Configuration 1) A vehicle drive control device comprising: a motor driver composed of a switching element and controlling a motor that drives a vehicle; a switch arranged between a power source and the motor driver; a capacitor arranged between a positive terminal and a negative terminal of the motor driver; and a control device that controls the motor driver, wherein the control device comprises: a voltage acquisition unit that acquires capacitor voltage; a current acquisition unit that acquires current values ​​flowing through each coil of the motor; and a voltage control unit that, when the switch is off, calculates a control angle that is a rotation angle for controlling the motor, and controls the motor driver based on the current value and the control angle to keep the capacitor voltage below a predetermined voltage. According to the vehicle drive control device of configuration 1, when the switch is off, a control angle, which is an estimate of the motor rotation angle, is calculated, and the motor driver is controlled based on the current value and the control angle, thereby keeping the capacitor voltage below a predetermined voltage. Therefore, by setting the predetermined voltage to an appropriate value, it is possible to suppress overcurrent in the switching elements that make up the motor driver.

[0067] (Configuration 2) The vehicle drive control device according to Configuration 1, wherein the voltage control unit controls the control angle to be larger when the capacitor voltage is larger than a target voltage, and controls the control angle to be smaller when the capacitor voltage is smaller than the target voltage. According to the vehicle drive control device of configuration 2, the capacitor voltage can be controlled so as to converge to the target voltage.

[0068] (Configuration 3) A vehicle drive control device according to Configuration 2, comprising an angle sensor that detects the rotation angle and rotation angular velocity of the motor, an angle acquisition unit that acquires the rotation angle and the rotation angular velocity from the angle sensor, and an angle storage unit that stores the rotation angle and the rotation angular velocity, wherein the voltage control unit calculates the control angle using the rotation angle as an initial value of the control angle and the rotation angular velocity as an initial value of the control angular velocity, which is an estimated value of the rotation angular velocity of the motor. According to the vehicle drive control device of configuration 3, the rotation angle is set as the initial value of the control angle, and the rotation angular velocity is set as the initial value of the control angular velocity, so that the initial values ​​of the control angular velocity and the control angle can be set appropriately, thereby improving the control accuracy of the control device.

[0069] (Configuration 4) The vehicle drive control device according to Configuration 3, wherein the voltage control unit calculates the control angle by setting the rotation angle immediately before an abnormality occurs in the angle sensor as the initial value of the control angle, and the rotation angular velocity immediately before an abnormality occurs in the angle sensor as the initial value of the control angular velocity. According to the vehicle drive control device of configuration 4, the rotation angle immediately before an abnormality occurs in the angle sensor is set as the initial value of the control angle, and the rotation angular velocity immediately before an abnormality occurs in the angle sensor is set as the initial value of the control angular velocity, so that the initial values ​​of the control angular velocity and the control angle can be set appropriately, thereby improving the control accuracy of the control device.

[0070] (Configuration 5) The vehicle drive control device according to Configuration 3, wherein the voltage control unit calculates the control angle by setting the rotation angle immediately before the switch is turned off as the initial value of the control angle, and the rotation angular velocity immediately before the switch is turned off as the initial value of the control angular velocity. According to the vehicle drive control device of configuration 5, the rotation angle immediately before the switch is turned off is set as the initial value of the control angle, and the rotation angular velocity immediately before the switch is turned off is set as the initial value of the control angular velocity, so that the initial values ​​of the control angular velocity and the control angle can be set appropriately, thereby improving the control accuracy of the control device.

[0071] (Configuration 6) A control method for a vehicle drive control device comprising: a motor driver composed of a switching element and controlling a motor that drives a vehicle; a switch arranged between a power source and the motor driver; a capacitor arranged between the positive terminal and the negative terminal of the motor driver; and a control device that controls the motor driver, wherein the control device executes a voltage acquisition step of acquiring a capacitor voltage; a current acquisition step of acquiring a current value flowing through each coil of the motor; and a voltage control step of, when the switch is off, calculating a control angle, which is a rotation angle for controlling the motor, and controlling the motor driver based on the current value and the control angle, thereby maintaining the capacitor voltage below a predetermined voltage. According to the control method for a vehicle drive control device of configuration 6, when the switch is off, a control angle, which is a rotation angle for controlling the motor, is calculated, and the motor driver is controlled based on the current value and the control angle, thereby keeping the capacitor voltage below a predetermined voltage. Therefore, by setting the predetermined voltage to an appropriate value, overcurrent in the switching elements that make up the motor driver can be suppressed. [Explanation of symbols]

[0072] 100 Vehicle drive control device 1 Motor drive circuit 11 Battery 12 Contactor (switch) 13 Capacitor 14 Motor driver 14P positive terminal 14M negative terminal 14U1, 14U2, 14V1, 14V2, 14W1, 14W2 MOSFET (switching element) 15 motors, 15U, 15V, 15W motor coil 2 Driver drive circuit 3. Control device 31 processors 311 Voltage acquisition unit 312 Current acquisition section 313 Angle acquisition part 314 Voltage control section 32 Memory 321 Control Program 322 Angle memory section 33 Voltage control circuit (part of voltage control section) 331 Differentiator 332 PID Controller 333 Adder 334 Integrator 335 Adder IDA, IQA target values JD d-axis current JQ q-axis current SA angle sensor SC Current Sensor SV voltage sensor VC Capacitor Voltage VCA target voltage VCM withstand voltage ΔVC difference θ rotation angle θ0 initial value θS Control angle ω rotational angular velocity ω0 initial value ωS Control angular velocity

Claims

1. a motor driver configured with switching elements and controlling a motor that drives a vehicle; an angle sensor for detecting a rotation angle of the motor; a switch disposed between a power source and the motor driver; a capacitor disposed between a positive terminal and a negative terminal of the motor driver; a control device that controls the motor driver, The control device a voltage acquisition unit that acquires a capacitor voltage; a current acquisition unit that acquires a current value flowing through each coil of the motor; When the rotation angle of the motor is not input from the angle sensor, the switch is turned off; a voltage control unit that, when the switch is turned off, calculates a control angle, which is a rotation angle for controlling the motor, and controls the motor driver based on the current value and the control angle, thereby maintaining the capacitor voltage at or below a predetermined voltage; A vehicle drive control device comprising:

2. the voltage control unit controls the control angle to be larger when the capacitor voltage is larger than a target voltage, and controls the control angle to be smaller when the capacitor voltage is smaller than the target voltage. The vehicle drive control device according to claim 1.

3. The angle sensor detects the rotation angle and rotation angular velocity of the motor, an angle acquisition unit that acquires the rotation angle and the rotation angular velocity from the angle sensor; an angle storage unit that stores the rotation angle and the rotation angular velocity, the voltage control unit calculates the control angle by setting the rotation angle as an initial value of the control angle and the rotation angular velocity as an initial value of a control angular velocity that is an estimated value of the rotation angular velocity of the motor. The vehicle drive control device according to claim 2.

4. the voltage control unit calculates the control angle by setting the rotation angle immediately before an abnormality occurs in the angle sensor as an initial value of the control angle, and the rotation angular velocity immediately before an abnormality occurs in the angle sensor as an initial value of the control angular velocity, of the rotation angle and the rotation angular velocity. The vehicle drive control device according to claim 3.

5. the voltage control unit calculates the control angle by setting the rotation angle immediately before the switch is turned off as an initial value of the control angle and the rotation angular velocity immediately before the switch is turned off as an initial value of the control angular velocity, of the rotation angle and the rotation angular velocity. The vehicle drive control device according to claim 3.

6. a motor driver configured with switching elements and controlling a motor that drives a vehicle; an angle sensor for detecting a rotation angle of the motor; a switch disposed between a power source and the motor driver; a capacitor disposed between a positive terminal and a negative terminal of the motor driver; a control device that controls the motor driver, The control device a voltage acquisition step of acquiring a capacitor voltage; a current acquisition step of acquiring a current value flowing through each coil of the motor; turning off the switch when the rotation angle of the motor is not input from the angle sensor; a voltage control step of, when the switch is turned off, calculating a control angle, which is a rotation angle for controlling the motor, and controlling the motor driver based on the current value and the control angle, thereby maintaining the capacitor voltage at or below a predetermined voltage; A control method for a vehicle drive control device, which executes the above.

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