阅读说明：本技术 马达控制装置 (Motor control device ) 是由 木村诚 椎野高太郎 岛津秀昭 于 2019-02-04 设计创作，主要内容包括：马达控制装置具有：第一逆变器选择器,能够对第一逆变器单元和第二逆变器单元选择性地或同时地输出第一PWM信号；以及第一微型计算机,将第一PWM信号和第一选择信号输出到第一逆变器选择器,该第一选择信号含有是否对第一逆变器单元输出第一PWM信号和是否对第二逆变器单元输出第一PWM信号的信息。(The motor control device comprises: a first inverter selector capable of selectively or simultaneously outputting a first PWM signal to the first inverter unit and the second inverter unit; and a first microcomputer outputting a first PWM signal and a first selection signal to the first inverter selector, the first selection signal containing information whether to output the first PWM signal to the first inverter unit and whether to output the first PWM signal to the second inverter unit.)

1. A control device for a motor is provided,

the motor control device is capable of drive-controlling the brushless motor unit,

the brushless motor unit includes a motor rotor and a first stator coil,

the motor control apparatus includes a multi-inverter unit,

the multiple inverter units include a first inverter unit and a second inverter unit,

the first inverter unit is capable of outputting a first motor drive signal to the first stator coil based on a first motor command signal input to the first inverter unit,

the second inverter unit is capable of outputting a first motor drive signal to the first stator coil based on the first motor command signal input to the second inverter unit,

the motor control device further includes a first inverter switching control unit capable of selectively outputting the first motor command signal to the first inverter unit and the second inverter unit,

the motor control device further includes a first microcomputer,

the first microcomputer includes a first inverter switching control signal generating unit and a first motor command signal generating unit,

the first inverter switching control signal generation unit is capable of generating a first inverter switching control signal that is output to the first inverter switching control unit,

the first inverter switching control signal is a signal containing information on whether or not the first inverter unit is to output the first motor command signal to the first inverter unit and whether or not the first inverter unit is to output the first motor command signal to the second inverter unit in the first inverter switching control unit,

the first motor command signal generating unit may generate the first motor command signal, which is transmitted to the first stator coil and becomes a command signal for driving and controlling the brushless motor unit.

2. The motor control apparatus of claim 1,

the motor control device further includes a second microcomputer,

the brushless motor unit includes a second stator coil,

the second microcomputer includes a second motor command signal generating unit,

the second motor command signal generation unit may generate a second motor command signal that is transmitted to the second stator coil and becomes a command signal for drive-controlling the brushless motor unit.

3. The motor control apparatus of claim 2,

the motor control apparatus further includes a second inverter switching control unit,

the second inverter switching control unit is capable of selectively outputting the second motor command signal to the first inverter unit and the second inverter unit,

the second microcomputer includes a second inverter switching control signal generating unit,

the second inverter switching control signal generation unit is capable of generating a second inverter switching control signal that is output to the second inverter switching control unit,

the second inverter switching control signal is a signal including information on whether or not the second inverter switching control unit outputs the second motor command signal to the first inverter unit and information on whether or not the second inverter unit outputs the second motor command signal.

4. The motor control apparatus of claim 3,

the multiple inverter units include a plurality of the first inverter units and the second inverter units, respectively,

the first inverter switching control unit is capable of selectively outputting the first motor command signal to all the inverter units of the multiple inverter units,

the second inverter switching control unit may be configured to selectively output the second motor command signal to all of the inverter units of the multiple inverter units.

5. The motor control apparatus of claim 4,

the first microcomputer is capable of outputting the first inverter switching control signal to the second inverter switching control unit,

the second microcomputer can output the second inverter switching control signal to the first inverter switching control unit.

6. The motor control apparatus of claim 5,

the first stator coil and the second stator coil are provided on the outer side of the motor rotor in the radial direction with respect to the rotation axis of the motor rotor, and the motor rotor can be rotationally driven by magnetic fields formed by the first stator coil and the second stator coil,

the second microcomputer may output the second motor command signal at a timing different from a timing at which the first microcomputer outputs the first motor command signal.

7. The motor control apparatus of claim 5,

the first microcomputer includes a first microcomputer output port and a second first microcomputer output port,

the first microcomputer output port outputs the first inverter switching control signal to the first inverter switching control unit,

the second first microcomputer output port outputs the first inverter switching control signal to the second inverter switching control unit,

the second microcomputer includes a first second microcomputer output port and a second microcomputer output port,

the first second microcomputer output port outputs the second inverter switching control signal to the first inverter switching control unit,

the second microcomputer output port outputs the second inverter switching control signal to the second inverter switching control unit.

8. The motor control apparatus of claim 2,

the first microcomputer includes a first watchdog timer signal output unit,

the first watchdog timer signal is outputted to the second microcomputer, and whether or not there is an abnormality in the first microcomputer is judged,

the second microcomputer includes a second watchdog timer signal output unit,

the second watchdog timer signal is output to the first microcomputer, and whether or not there is an abnormality in the second microcomputer is determined.

9. The motor control apparatus of claim 1,

the motor control device further comprises a pre-driver unit,

the pre-driver unit is provided between the first microcomputer and the first inverter switching control unit or between the first inverter switching control unit and the multi-inverter unit, and the pre-driver unit is a driver that drive-controls the multi-inverter unit based on the first motor command signal.

10. The motor control apparatus of claim 9,

the pre-driver unit is disposed between the first microcomputer and the first inverter switching control unit.

11. The motor control apparatus of claim 10,

the motor control device further includes a second microcomputer and a second inverter switching control unit,

the brushless motor unit includes a second stator coil,

the second microcomputer includes a second motor command signal generating unit and a second inverter switching control unit,

the second motor command signal generation unit is capable of generating a second motor command signal that is sent to the second stator coil and becomes a command signal for drive-controlling the brushless motor unit,

the second inverter switching control signal generation unit is capable of generating a second inverter switching control signal that is output to the second inverter switching control unit,

the second inverter switching control signal is a signal including information on whether or not the second inverter switching control means outputs the second motor command signal to the first inverter means and whether or not the second inverter switching control means outputs the second motor command signal to the second inverter means,

the second inverter switching control unit is capable of selectively outputting the second motor command signal to the first inverter unit and the second inverter unit,

the pre-driver unit comprises a first pre-driver and a second pre-driver,

the first pre-driver is capable of outputting the first motor command signal to the first inverter switching control unit and the second inverter switching control unit,

the second predriver may be capable of outputting the second motor command signal to the first inverter switching control unit and the second inverter switching control unit.

12. The motor control apparatus of claim 11,

the motor control device further includes a third inverter switching control unit and a fourth inverter switching control unit,

the third inverter switching control unit is capable of receiving the first inverter switching control signal from the first microcomputer and outputting the first inverter switching control signal to the first pre-driver and the second pre-driver,

the third inverter switching control unit is capable of receiving the second inverter switching control signal from the second microcomputer and outputting the second inverter switching control signal to the first pre-driver and the second pre-driver,

the fourth inverter switching control unit is capable of receiving the first inverter switching control signal from the first microcomputer and outputting the first inverter switching control signal to the first predriver and the second predriver,

the fourth inverter switching control unit may be capable of receiving the second inverter switching control signal from the second microcomputer and outputting the second inverter switching control signal to the first predriver and the second predriver.

13. The motor control apparatus of claim 9,

the pre-driver unit is disposed between the first inverter switching control unit and the multi-inverter unit, and includes a first pre-driver and a second pre-driver,

the first pre-driver is capable of drive-controlling the first inverter unit based on the first motor command signal,

the second predriver can drive-control the second inverter unit based on the first motor command signal.

14. The motor control apparatus of claim 9,

the brushless motor unit has a second stator coil,

the first motor command signal generating means may be configured to transmit the first motor command signal to the second stator coil.

15. The motor control apparatus of claim 14,

the multi-inverter unit includes a third inverter unit and a fourth inverter unit,

the third inverter unit is capable of outputting the first motor drive signal to the first stator coil based on the first motor command signal input to the third inverter unit,

the fourth inverter unit may be configured to output the second motor drive signal to the second stator coil based on the first motor command signal input to the fourth inverter unit.

16. The motor control apparatus of claim 15,

the first inverter unit and the third inverter unit are capable of outputting the first motor command signal to the second stator coil,

the second inverter unit and the fourth inverter unit may output the first motor command signal to the first stator coil.

17. The motor control apparatus of claim 1,

when an abnormality occurs in the first inverter unit, the first inverter switching control signal generation unit outputs the first inverter switching control signal to the inverter switching control unit so that the first motor command signal is not output from the first inverter switching control unit to the first inverter unit.

18. The motor control apparatus of claim 17,

when an abnormality occurs in the first inverter unit, the first motor command signal generation unit changes the first motor command signal from the first motor command signal when no abnormality occurs in the first inverter unit to the first motor command signal output to the second inverter unit.

19. The motor control apparatus of claim 18,

when an abnormality occurs in the first inverter unit, the first motor command signal generation unit increases the first motor command signal output to the second inverter unit more than the first motor command signal when no abnormality occurs in the first inverter unit.

20. The motor control apparatus of claim 19,

the multiple inverter units include a plurality of the first inverter units and the second inverter units, respectively,

when an abnormality occurs in a first one of the first inverter units, the first motor command signal generating unit increases the first motor command signals output to all the inverter units except the first one of the multiple inverter units, as compared to the first motor command signals when no abnormality occurs in the first inverter units.

21. The motor control apparatus of claim 20,

when an abnormality occurs in a first one of the first inverter units, the first motor command signal generation unit increases the first motor command signal output to each of the inverter units in all the inverter units except the first one of the multiple inverter units uniformly over the first motor command signal when no abnormality occurs in the first inverter unit.

22. The motor control apparatus of claim 1,

the first microcomputer includes a multi-inverter unit abnormality detection unit,

the multiple inverter unit abnormality detection unit is capable of executing energization check control for detecting abnormality of the multiple inverter unit by energizing each of the first inverter unit and the second inverter unit.

23. The motor control apparatus of claim 22,

the multiple inverter unit abnormality detection unit performs the energization check control on the second inverter unit when the first motor command signal is output to the first inverter unit and not to the second inverter unit among the first inverter unit and the second inverter unit.

24. The motor control apparatus of claim 23,

the multi-inverter unit abnormality detection unit performs the energization check control when the first motor command signal is lower than a prescribed value.

25. The motor control apparatus of claim 24,

the multi-inverter unit abnormality detection means does not perform the energization check control when the first motor command signal is equal to or greater than the predetermined value.

26. The motor control apparatus of claim 22,

the motor control device further comprises a relay which is connected with the motor,

the relay is provided between the multi-inverter unit and the brushless motor unit,

when the multi-inverter abnormality detection unit detects an abnormality of the first inverter unit, the relay opens an energization loop between the first inverter unit and the brushless motor unit.

27. The motor control apparatus of claim 22,

when an abnormality occurs in the first inverter unit, the first motor command signal generation unit increases the first motor command signal output to the second inverter unit more than the first motor command signal when no abnormality occurs in the first inverter unit.

28. The motor control apparatus of claim 1,

the motor control device further includes a first current sensor and a second current sensor,

the brushless motor unit has a second stator coil,

the first motor command signal generating unit is capable of sending the first motor command signal to the second stator coil,

the first current sensor is capable of detecting a value of current flowing through the first stator coil,

the second current sensor is capable of detecting a value of current flowing through the second stator coil,

the first motor command signal generation unit generates the first motor command signal based on an output signal of the first current sensor or an output signal of the second current sensor.

29. The motor control apparatus of claim 28,

the motor control device further includes a second microcomputer,

the second microcomputer includes a second motor command signal generating unit,

the first motor command signal generation unit generates the first motor command signal based on an output signal of the first current sensor,

the second motor command signal generation unit generates the second motor command signal based on an output signal of the second current sensor.

Technical Field

The present invention relates to a motor control device.

Background

Patent document 1 discloses a motor control device in which an inverter for driving a brushless motor is made redundant.

Disclosure of Invention

Problems to be solved by the invention

In the above-described motor control device, there is a desire to selectively or simultaneously use a plurality of inverters according to the situation.

Means for solving the problems

An object of the present invention is to provide a motor control device that can selectively or simultaneously use a plurality of inverters according to conditions.

A motor control device according to one embodiment of the present invention includes a first inverter switching control unit capable of selectively or simultaneously outputting a first motor command signal to a first inverter unit and a second inverter unit, and a first microcomputer that outputs the first motor command signal and a first inverter switching control signal including information on whether or not to output the first motor command signal to the first inverter unit and whether or not to output the first motor command signal to the second inverter unit to the first inverter switching control unit.

Therefore, in one embodiment of the present invention, a plurality of inverters may be selectively or simultaneously used according to conditions.

Drawings

Fig. 1 is a configuration diagram of an electric power steering apparatus 1 according to embodiment 1.

Fig. 2 is a configuration diagram of the motor control device 101 according to embodiment 1.

Fig. 3 is a diagram showing a drive current waveform of the second inverter unit 202 when the first inverter unit 201 fails in embodiment 1.

Fig. 4 is a diagram showing a drive current waveform of the second inverter unit 202 when the first inverter unit 201 fails in embodiment 2.

Fig. 5 is a configuration diagram of the motor control device 103 according to embodiment 3.

Fig. 6 is a configuration diagram of the motor control device 104 according to embodiment 4.

Fig. 7 is a configuration diagram of the motor control device 105 according to embodiment 5.

Fig. 8 is a diagram showing a drive current waveform of another inverter unit when the first inverter unit 2011 fails in embodiment 5.

Fig. 9 is a configuration diagram of the motor control device 106 according to embodiment 6.

Fig. 10 is a diagram showing the current waveform of the first stator coil 191 and the current waveform of the second stator coil 192 in embodiment 6.

Fig. 11 is a configuration diagram of a motor control device 107 according to embodiment 7.

Fig. 12 is a configuration diagram of a motor control device 108 according to embodiment 8.

Fig. 13 is a configuration diagram of a motor control device 109 according to embodiment 9.

Fig. 14 is a configuration diagram of a motor control device 110 according to embodiment 10.

Fig. 15 is a configuration diagram of a motor control device 111 according to embodiment 11.

Fig. 16 is a configuration diagram of a motor control device 112 according to embodiment 12.

Fig. 17 is a configuration diagram of a motor control device 113 according to embodiment 13.

Fig. 18 is a configuration diagram of a motor control device 114 according to embodiment 14.

Fig. 19 is a configuration diagram of a motor control device 115 according to embodiment 15.

Fig. 20 is a configuration diagram of a motor control device 116 according to embodiment 16.

Fig. 21 is a diagram showing drive current waveforms of the first inverter units 2011, 2012 and 2013 and the second inverter units 2021, 2022 and 2023 in embodiment 16.

Fig. 22 is a configuration diagram of a motor control device 117 according to embodiment 17.

Fig. 23 is a configuration diagram of a motor control device 118 according to embodiment 18.

Fig. 24 is a configuration diagram of a motor control device 119 according to embodiment 19.

Detailed Description

[ embodiment mode 1 ]

Fig. 1 is a configuration diagram of an electric power steering apparatus 1 according to embodiment 1.

The electric power steering apparatus 1 applies an assist torque to a steering torque input to a steering wheel 2 by a driver via an electric motor 3, and transmits the steering torque and the assist torque to steered wheels 4 as a steering force. The electric motor 3 is a three-phase brushless (brushless) motor. The steering torque input to the steering wheel 2 is transmitted from the steering shaft 5 to the pinion (pinion)6, and is converted into thrust force of a rack bar (rack bar)8 by a rack (rack)7 meshing with the pinion 6. The linear motion of the rack bar 8 is transmitted to a tie rod (tie rod)9, and the steered wheels 4 are steered. The steering shaft 5 has an input shaft (input shaft)5a, a torsion bar (torque bar)5b, and a pinion shaft 5 c. The input shaft 5a and the pinion shaft 5c are rotatable relative to each other by the torsion of the torsion bar 5 b.

The assist torque output from the electric motor 3 is transmitted to the pinion gear 6 through a worm shaft (worm) 10 and a worm wheel (worm) 11. The steering shaft 5 is provided with a torque sensor 12 for detecting a steering torque across the input shaft 5a and the pinion shaft 5 c. The torque sensor 12 outputs a signal corresponding to the steering torque to the ECU 13. Further, a steering angle sensor 14 that detects an angle (steering angle) of the steering wheel 2 is provided in the steering shaft 5. The steering angle sensor 14 outputs a signal corresponding to the steering angle to the ECU 13. The ECU 13 calculates a target assist torque from the steering torque, the steering angle, the vehicle speed, and the like, and controls the electric power supplied to the electric motor 3 so that the output torque of the electric motor 3 becomes the target assist torque.

Fig. 2 is a configuration diagram of the motor control device 101 according to embodiment 1.

The motor control device 101 controls driving of the brushless motor unit 19 of the electric motor 3.

The brushless motor unit 19 has a first motor rotor 19a and a first stator coil 191. The first motor rotor 19a is a stator and is formed of a magnet. The first stator coil 191 is a stator, and 3 coils are star-connected. The first stator coil 191 rotationally drives the first motor rotor 19a in accordance with a voltage applied to each phase (U, V, W) based on the PWM control rule.

In the motor control device 101, each unit other than the brushless motor unit 19 is housed inside the ECU 13.

The multi-inverter unit 20 converts a direct-current voltage supplied from the in-vehicle battery into a three-phase alternating-current voltage (a first motor drive signal) and supplies the three-phase alternating-current voltage to the first stator coil 191. The multiple inverter unit 20 has a first inverter unit 201 and a second inverter unit 202. The first inverter unit 201 has a three-phase bridge circuit using 2 sets of MOSFETs as switching elements for each phase. On/off of each MOSFET is controlled by a first PWM signal (first motor command signal) input to a control terminal (gate terminal) of the MOSFET. The same applies to the second inverter unit 202.

The first inverter selector 211 receives the first PWM signal and the first selection signal (first inverter switching control signal) as input, and outputs the first PWM signal to one or both of the first inverter unit 201 and the second inverter unit 202 based on information obtained from the first selection signal. The first selection signal is a signal containing information on whether to output the first PWM signal to the first inverter unit 201 and whether to output the first PWM signal to the second inverter unit 202.

The first microcomputer 221 generates a first PWM signal and a first selection signal, and outputs to the first inverter selector 211. The first microcomputer 221 has a first selection signal generation unit (first inverter switching control signal generation unit) 2211, a first PWM signal generation unit (first motor command signal generation unit) 2212, a first output port 2213, and a second output port 2214.

The first selection signal generation unit 2211 generates a first selection signal according to whether or not the two inverter units 201, 202 are normal. For example, the first selection signal is generated so that the first PWM signal is output to the normal inverter unit among the two inverter units 201 and 202, and the first PWM signal is not output to the inverter unit in which the abnormality has occurred.

The first PWM signal generation unit 2212 generates a first PWM signal for drive-controlling the brushless motor unit 19 based on the PWM control rule so that the output torque of the electric motor 3 becomes the target assist torque.

The first output port 2213 outputs the first selection signal generated by the first selection signal generation unit 2211 to the first inverter selector 211.

The second output port 2214 outputs the first PWM signal generated by the first PWM signal generation unit 2212 to the first inverter selector 211.

Next, the operation and effect of embodiment 1 will be described.