阅读说明：本技术 马达控制装置以及配备有马达控制装置的电动制动装置 (Motor control device and electric brake device equipped with motor control device ) 是由 佐藤弘明 安岛俊幸 松原谦一郎 后藤大辅 于 2019-06-17 设计创作，主要内容包括：本发明的目的在于提供一种即便在有干扰转矩或者延迟时间的变动的情况下也能高精度地推断延迟、抑制延迟的影响的马达控制装置。为此,本发明的马达控制装置具备马达(MTR)、控制马达(MTR)的旋转的ECU2、以及根据指令值向ECU2发送转矩指令的ECU1。ECU1具备干扰推断块(100)和延迟推断块(200)。干扰推断块(100)使用输入至ECU2的转矩指令和马达(MTR)的反馈值来推断干扰转矩(τd)。延迟推断块(200)使用从ECU1输出的转矩指令、马达(MTR)的反馈值以及干扰转矩(τd)来推断延迟。(The invention aims to provide a motor control device which can estimate delay with high precision and restrain the influence of delay even if disturbance torque or delay time fluctuates. To this end, the motor control device of the present invention includes a Motor (MTR), an ECU2 that controls rotation of the Motor (MTR), and an ECU1 that transmits a torque command to the ECU2 based on a command value. The ECU1 is provided with a disturbance estimation block (100) and a delay estimation block (200). The disturbance estimation block (100) estimates a disturbance torque (τ d) using a torque command input to the ECU2 and a feedback value of the Motor (MTR). The delay estimation block (200) estimates the delay using a torque command output from the ECU1, a feedback value of the Motor (MTR), and the disturbance torque (τ d).)

1. A motor control device is characterized in that,

comprising a motor, a lower control device for controlling the rotation of the motor, and an upper control device for transmitting a torque command to the lower control device based on a command value,

the host control device includes an interference estimation unit and a delay estimation unit,

the disturbance estimation unit estimates a disturbance using a torque command input to the subordinate control device and a feedback value of the motor,

the delay estimation unit estimates a delay using a torque command output from the higher-level control device, a feedback value of the motor, and the disturbance torque estimated by the disturbance estimation unit.

2. The motor control apparatus according to claim 1,

the disturbance estimation unit includes a back-calculation torque calculation unit that calculates a back-calculation torque by back-calculating a feedback value of the motor, and an estimated disturbance torque calculation unit that estimates the disturbance as a disturbance torque based on a difference between the back-calculation torque calculated by the back-calculation torque calculation unit and the torque command, and sends the disturbance torque to the delay estimation unit.

3. The motor control apparatus according to claim 1,

the delay estimation unit includes a delay torque calculation unit that calculates a delay torque based on a feedback value of the motor, the disturbance torque, and the torque command.

4. The motor control apparatus according to claim 3,

the delay estimation unit includes a motor simulation model that simulates the motor, and corrects the feedback value of the motor recognized by the upper control device by inputting the delay torque to the motor simulation model.

5. The motor control apparatus according to claim 4,

the response of the motor simulation model is faster than the mechanical response of the motor.

6. The motor control apparatus according to any one of claims 1 to 4,

the disturbance estimation unit includes a state estimation unit configured to estimate the disturbance torque based on the torque command and a feedback value of the motor by providing a mathematical model for estimating an internal state of the motor, and is configured by an observer or a kalman filter, and the disturbance estimation unit inputs the disturbance torque to the delay estimation unit.

7. The motor control device according to claim 3 or 4,

the delay estimation unit includes a state estimation function that estimates the delay torque from the torque command, the feedback value of the motor, and the disturbance torque by providing a mathematical model for estimating the internal state of the motor, and is configured by an observer or a kalman filter.

8. A motor control device is characterized in that,

comprising a motor, a control device for generating a torque command to be input to the motor, and a power conversion device for applying a voltage to the motor in accordance with the torque command,

the control device is provided with:

a disturbance estimation unit that estimates a disturbance of the motor based on a feedback value that is a control amount of the motor and a voltage applied to the motor, an

A delay estimation unit that estimates a delay from the torque command, the feedback value, and the disturbance,

the interference estimation unit stops the function during the idling of the motor,

the delay estimation unit estimates a delay from the torque command and the feedback value during a period in which the motor is idling,

the delay is set to the voltage which is an input of the interference estimation unit.

9. An electric brake device including a piston for pressing a brake pad against a disc rotor, a rotation/linear motion conversion mechanism for converting a rotational motion output from a motor into a linear motion to advance the piston, and an electronic control element for controlling rotation of the motor,

the electronic control element is provided with an interference estimation unit and a delay estimation unit,

the disturbance inference section infers a disturbance using a torque command input to the motor and a feedback value of the motor,

the delay estimation unit estimates a delay using the torque command, the feedback value of the motor, and the disturbance torque estimated by the disturbance estimation unit.

10. An electric brake apparatus according to claim 9,

the disturbance estimation unit includes a back-calculation torque calculation unit that calculates a back-calculation torque by back-calculating a feedback value of the motor, and an estimated disturbance torque calculation unit that estimates the disturbance as a disturbance torque based on a difference between the back-calculation torque calculated by the back-calculation torque calculation unit and the torque command, and sends the disturbance torque to the delay estimation unit.

11. Electric brake arrangement according to claim 9 or 10,

the delay estimation unit includes a delay torque calculation unit that calculates a delay torque based on a feedback value of the motor, the disturbance torque, and the torque command.

12. An electric brake apparatus according to claim 11,

the delay estimation unit includes a motor simulation model that simulates the motor, and corrects the feedback value of the motor recognized by the electronic control unit by inputting the delay torque to the motor simulation model.

Technical Field

The present invention relates to a motor control device and an electric brake device equipped with the motor control device.

Background

With the progress of electric drive of automobiles, the number of Electronic Control Units (ECUs) mounted thereon has increased. A plurality of ECUs for engine control, brake control, and the like are mounted as auxiliary machines in 1 vehicle, and an EUC is provided as a master machine that collectively controls the plurality of ECUs. In a vehicle system including a plurality of ECUs, the ECUs communicate signals with each other to perform control. In such a vehicle system, a delay of a signal accompanying communication between ECUs occurs, and control tends to become unstable, and therefore a technique for stably controlling a delayed system is desired in the art. In control for stabilizing a system having a delay, the influence of the delay is eliminated by estimating the delay using a command value and a feedback value, and stable control is realized. As such a technique, for example, a technique described in patent document 1 is proposed.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2005-304155

Disclosure of Invention

Problems to be solved by the invention

In motor control in a system with delay, not only stability but also as high response as possible are required so that a feedback value and a command value are in agreement with each other in a steady state. Conventionally, as described in patent document 1, delay is estimated using a command value and a feedback value to eliminate the influence of delay and stably control the delay. However, when parameter fluctuation of the motor, load, and heat generation of the motor itself (these are referred to as disturbance torque in the present specification) occur, information of the disturbance torque is included in the estimated delay, and the delay cannot be estimated with high accuracy. As a technique for considering the influence of interference, fig. 7 of patent document 1 discloses a technique in which an interference estimator for estimating interference is provided, but since interference estimation is performed after delay estimation, delay due to the influence of interference cannot be reflected. When the delay time varies, patent document 1 cannot estimate the delay with high accuracy. When the delay cannot be estimated with high accuracy, the control becomes unstable, the responsiveness deteriorates, and a phenomenon occurs in which the command value and the feedback value do not match in a steady state (this is referred to as steady-state deviation in the present specification).

An object of the present invention is to solve the above-described problems and to provide a motor control device and an electric brake device including the motor control device, which can estimate a delay with high accuracy and suppress the influence of the delay even when there is a fluctuation in disturbance torque or delay time.

Means for solving the problems

In order to achieve the above object, a motor control device according to the present invention includes a motor, a lower-level control device that controls rotation of the motor, and an upper-level control device that transmits a torque command to the lower-level control device based on a command value, wherein the upper-level control device includes a disturbance estimation unit that estimates a disturbance using the torque command input to the lower-level control device and a feedback value of the motor, and a delay estimation unit that estimates a delay using a torque command output from the upper-level control device, a feedback value of the motor, and a disturbance torque estimated by the disturbance estimation unit.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, it is possible to provide a motor control device and a brake device equipped with the motor control device, which can estimate a delay with high accuracy and suppress the influence of the delay even when there is a fluctuation in disturbance torque or delay time.

Drawings

Fig. 1 is a diagram schematically showing a functional configuration of a motor MTR according to embodiment 1 of the present invention as functional blocks.

Fig. 2 is a diagram schematically showing the functional configuration of the motor and the ECU according to embodiment 1 of the present invention as functional blocks.

Fig. 3 is a control block diagram of embodiment 1 of the present invention.

Fig. 4 is a block diagram of an interference estimation block according to embodiment 1 of the present invention.

Fig. 5 is a block diagram of the delay evaluating block according to embodiment 1 of the present invention.

Fig. 6A is a diagram showing a relationship between a torque command value and a motor speed in the present embodiment.

Fig. 6B is a diagram showing a relationship between a torque command value and a motor speed in comparative example 1.

Fig. 6C is a diagram showing a relationship between a torque command value and a motor speed in comparative example 2.

Fig. 7 is a configuration diagram of an interference estimation block according to embodiment 2 of the present invention.

Fig. 8 is a block diagram of the delay evaluating block according to embodiment 3 of the present invention.

Fig. 9 is a configuration diagram of a motor simulation model according to embodiment 4 of the present invention.

Fig. 10 is a configuration diagram of an electric brake device according to embodiment 5 of the present invention.

Detailed Description

While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the following embodiments, and various modifications and application examples are included in the technical concept of the present invention.

Example 1

Next, embodiment 1 of the present invention will be described with reference to fig. 1 to 5. First, the structure of the motor MTR, which is a control target of the present invention, will be briefly described. Fig. 1 is a diagram schematically showing a functional configuration of a motor MTR according to embodiment 1 of the present invention as functional blocks. The motor MTR is composed of a torque generation unit 30 and a rotational movement unit 40. In fig. 1, "s" represents a laplacian, "T" represents a torque time constant, "J" represents inertia, and "D" represents a viscous friction coefficient. A torque command (τ × B) which is a control command value is input from a control device (not shown) to a motor MTR which is a control target, and a motor torque (τ) which is a control amount is generated by a torque time constant (T). The relationship of the generated motor torque (τ) to the motor speed (ω) can be expressed in the following equation of motion (1) using the inertia (J), the viscous friction coefficient (D).

[ formula 1]

Note that, when the functional blocks are shown, they are as in fig. 1. This embodiment shows a case where the torque command (τ × B) input to the motor MTR in fig. 1 is generated.

Fig. 2 is a diagram schematically showing the functional configuration of the motor and the ECU according to embodiment 1 of the present invention as functional blocks. As shown in fig. 2, the motor MTR is controlled by the ECU1, which is an upper control device, and the ECU2, which is a lower control device.

The ECU2, which is a subordinate control device, is, for example, a plurality of ECUs in the form of accessories for engine control, brake control, safety control, and the like. In embodiment 1, the ECU2 is a device that controls the rotation of the motor MTR. The ECU1, which is a higher-level control device, is an EUC as a master for collectively controlling a plurality of ECUs. In embodiment 1, a torque command is sent to the ECU2 based on a command value. In recent years, there are several tens of ECUs mounted on automobiles, and these ECUs are connected by an in-vehicle LAN. In the present embodiment, ECU1 and ECU2 are also connected via an in-vehicle LAN, and perform transmission and reception of signals with each other. As the communication method, for example, can (controller Area network) communication protocol is used.

The signal of the ECU1 is transmitted to the ECU2 with a delay of the time degree of the first delay 10A. The signal of the ECU2 is transmitted to the ECU1 with a delay of the time degree of the second delay 10B. Further, the first delay 10A and the second delay 10B may be changed at any time. The ECU1 includes a speed control block 20, and the speed control block 20 generates a torque command (τ × a) so that a motor speed (ω B) described later follows a speed command (ω ×) transmitted from a control device (not shown). The torque command (τ × a) is sent to the ECU2 with a first delay of 10A, is input to the ECU2, and is recognized as the torque command (τ × B) in the ECU 2. The motor MTR is driven in accordance with the torque command (τ × B). The speed of the motor MTR, i.e., the motor speed (ω a), is sent to the ECU1 at the time of the second delay 10B, and is recognized as the motor speed (ω B) in the ECU 1. The motor speed (ω B) is a feedback value of the motor including the second delay 10B.

In addition, when there is the first delay 10A or the second delay 10B, a deviation occurs between the motor speed (ω B) identified in the ECU1 and the motor speed (ω a) identified in the ECU 2. Since the torque command (τ × a) generated by the ECU1 is not immediately reflected in the motor MTR, if the motor speed (ω B) is made to follow the speed command (ω ″), the control becomes unstable, and the motor speed (ω a) and the motor speed (ω B) oscillate.

Further, in the actual motor MTR, it is rare that the motor torque (τ) is generated in accordance with the torque time constant (T) of the torque generation unit 30, and it is rare that the inertia (J) and the viscous friction coefficient (D) inherent to the motor MTR can be accurately grasped. In addition, in general, the motor MTR is often subjected to some load, and there is almost no case where all of the input torque command (τ × B) contributes to the motor speed (ω a).

In the embodiment described below, the deviation, load, and the like of these parameters are all regarded as disturbance torque (τ d), and are expressed as added to the torque (τ) of the motor MTR as shown in fig. 1.

Fig. 3 is a control block diagram of embodiment 1 of the present invention. As in fig. 2, the motor MTR is controlled by the ECU1 and the ECU2, and signals are transmitted and received between the ECU1 and the ECU2 with the first delay 10A and the second delay 10B.

The ECU1 includes a speed control block 20, a disturbance estimating block 100 as a disturbance estimating unit, and a delay estimating block 200 as a delay estimating unit. Further, fig. 3 shows a control block, which is actually a function executed by software by a device such as a microcomputer, and thus the control block can be understood as a "control function". Furthermore, after fig. 3, the control block can also be understood as a "control function".

Here, the disturbance estimating block 100 shown in fig. 3 has a function of obtaining (estimating) the disturbance torque (τ d) from the torque command (τ × C) and the motor speed (ω B) recognized in the ECU1 through the second delay 10B by the torque command (τ × B) input to the motor MTR. The disturbance estimating block 100 uses the motor speed (ω B) and the torque command (τ × C) identified by the second delay 10B, which is the same delay, and thus can determine (estimate) only the disturbance torque. The disturbance inference block 100 outputs an inferred disturbance torque (τ d). In other words, the disturbance estimating block 100 estimates the disturbance using the torque command (τ × C) input by the ECU1 and the feedback value of the motor MTR, i.e., the motor speed (ω B).

The delay estimation block 200 estimates the disturbance torque (tau x a), the motor speed (ω B), and the estimated disturbance torque (ω a) based on the torque command (tau x a), the motor speed (ω B), and the estimated disturbance torque generated by the speed control block 20τd) The motor speed (ω B) is corrected by estimating the delay, and the corrected motor speed (ω C) is output.

In the present embodiment, the delay can be estimated by inputting the torque command (τ × a) without delay and the motor speed (ω B) with delay to the delay estimation block 200. The motor speed (ω B) includes information of the disturbance torque (τ d). Therefore, in the present embodiment, the disturbance torque (f) is estimatedτd) The delay estimation block 200 receives the input of the disturbance torque τ d and the delay, and estimates the disturbance torque τ d separately from the delay, so that the delay can be estimated with high accuracy even when the disturbance torque τ d or the variation of the delay amount occurs. The delay estimation block 200 estimates the delay and corrects the motor speed (ω B) to calculate the corrected motor speed (ω C) and sends it to the speed control block 20. Here, the corrected motor speed (ω C) is obtained by correcting the motor speed (ω B) so as to match the motor speed (ω a) (or so as to reduce an error).

By using the corrected motor speed (ω C), the speed control block 20 can generate the torque command (τ × a) so that the motor speed (ω a) or the motor speed (ω B) follows the speed command (ω), and on the one hand, the response is high and stable, and on the other hand, the control can be performed so that no steady-state deviation occurs.

Next, referring to fig. 4, the interference estimating block 100 used in the present embodiment will be described. Fig. 4 is a block diagram of an interference estimation block according to embodiment 1 of the present invention. As shown in fig. 4, the disturbance estimating block 100 includes a back-calculated torque calculating block 101 as a back-calculated torque calculating unit, an estimated disturbance torque calculating block 102 as an estimated disturbance torque calculating unit, a low-pass filter 103, and the like.

The back-calculation torque calculation block 101 back-calculates a motor speed (ω B), which is a feedback value of the motor MTR, to calculate a back-calculation torque (τ r). Specifically, the back-calculated torque calculation block 101 calculates the back-calculated torque (τ r) by differentiating the motor speed (ω B) and multiplying the motor speed by the inertia (J) of the motor MTR. The calculated result is substantially equivalent to the torque (τ) of the motor MTR including the disturbance torque (τ d). Then, the back calculated torque (τ r) is input to the estimated disturbance torque calculation block 102.

The torque command (τ × C) is input to the estimated disturbance torque calculation block 102 separately from the back-calculated torque (τ r), and the difference between the torque command (τ × C) and the back-calculated torque (τ r) is calculated. Thereby, with differential torque: (τdA) The form of (d) deduces the disturbance torque (τ d). The differential torque(s) determined in the estimated disturbance torque calculation block 102τdA) Is input to a low-pass filter 103 to remove high-frequency noise and the like, and interference torque is estimated by (τdB) Is sent to the following delay estimation block 200.

Next, the delay evaluating block 200 used in the present embodiment will be described with reference to fig. 5. Fig. 5 is a block diagram of the delay evaluating block according to embodiment 1 of the present invention. The delay estimation block 200 is composed of a back-calculated torque calculation block 201, a disturbance torque removal block 202, a low-pass filter 203, a delay torque calculation block 204, a motor simulation model 300, and the like.

The back-calculation torque calculation block 201 back-calculates a motor speed (ω B), which is a feedback value of the motor MTR, to calculate a back-calculation torque (τ r). Specifically, the back-calculated torque calculation block 201 calculates the back-calculated torque (τ r) by differentiating the motor speed (ω B) and multiplying the motor speed by the inertia (J) of the motor MTR. The calculated result is substantially equivalent to the torque (τ) of the motor MTR including the disturbance torque (τ d). Then, the back calculated torque (τ r) is input to the disturbance torque removal block 202.

Inferring disturbance torque: (τdB) Separately from the back-calculated torque (τ r), the back-calculated torque (τ r) and the estimated disturbance torque: (tau r) are inputted to the disturbance torque removal block 202τdB) The difference of (2). Thereby, the estimated disturbance torque (τ r) is removed from the back calculated torque (τ r)τ dB) The generated torque (τ aA) is calculated. The generated torque (τ aA) is input to the low-pass filter 203 to remove high-frequency noise and the like, and is input to the delay torque calculation block 204 as a generated torque (τ aB).

The delay torque calculation block 204 as a delay torque calculation unit estimates a delay torque from a motor speed (ω B), which is a feedback value of the motor MTR, a disturbance torque (τ d), and a torque command (τ × a). Specifically, the torque command (τ × a) is input to the delay torque calculation block 204 separately from the generated torque (τ aB), and the difference between the generated torque (τ aB) and the torque command (τ × a) is calculated. From this, delay torque (τ i) corresponding to the delay caused by the first delay 10A and the second delay 10B is estimated, and delay torque: (τ i) is estimatedτiA) Is input to the motor simulation model 300.

The motor simulation model 300 is a model obtained by simulating the motor MTR, and is configured by a filter 301, a correction amount calculation block 302, and the like. The motor simulation model 300 inputs the delay torque and corrects the feedback value of the motor recognized by the ECU 1. More specifically, the delay torque is estimated (τiA) The amount of variation in the motor speed (ω B) due to the delay torque (τ i) is calculated by inputting the amount of variation to the motor simulation model 300.

The filter 301 is a simulation of the torque generation unit 30 in fig. 1, for example. Inferring retard torque: (τiA) The output is input to the filter 301, and the output is input to the correction amount calculation block 302 in the form of the estimated delay torque (τ iB).

The correction amount calculation block 302 is, for example, a simulation of the inertia (J) of the motor MTR in fig. 1. For the inferred delay torque: (τ iB) The correction amount (ω X) is obtained by integrating and dividing the value by the inertia (J) of the motor MTR. Found out correctionThe positive amount (ω X) is input to the motor speed correction block 205.

The motor speed correction block 205 inputs the motor speed (ω B) separately from the correction amount (ω X), and calculates the difference between the motor speed (ω B) and the correction amount (ω X), thereby calculating the corrected motor speed (ω C) by removing the influence of the first delay 10A and the second delay 10B from the motor speed (ω B).

As shown in fig. 3, the speed control block 20 calculates the torque command (τ × a) by inputting the speed command (ω) and the corrected motor speed (ω C). Here, the speed control block 20 is configured to calculate the torque command (τ × a) so that the corrected motor speed (ω C) matches the speed command (ω), and the configuration of the speed control block 20 is not particularly limited. For example, PI control is possible.

Next, the relationship between embodiment 1 and the comparative example will be described with reference to fig. 6. Fig. 6A is a diagram showing a relationship between a torque command value and a motor speed in the present embodiment, fig. 6B is a diagram showing a relationship between a torque command value and a motor speed in comparative example 1, and fig. 6C is a diagram showing a relationship between a torque command value and a motor speed in comparative example 2.

In comparative example 1 shown in fig. 6B, the control is performed without delay estimation/disturbance estimation, the broken line indicates the torque command value, and the solid line indicates the motor speed. In the case where a torque command value that increases the torque is output while the motor is rotating, fig. 6B follows the torque command value in a delayed manner because there is no delay inference/disturbance inference control. As described above, in comparative example 1, the motor speed (ω B) input to the speed control block 20 is a signal delayed by the first delay 10A and the second delay 10B, and therefore, if the motor speed (ω B) is made to coincide with the speed command (ω ×), there is a problem that the control becomes unstable. Further, although there is also a technique of estimating a delay from a torque command (τ x a) and a motor speed (ω B) and correcting the motor speed (ω B), since there is no disturbance estimation, information of disturbance torque (τ d) is included in the estimated delay, and the delay cannot be estimated with high accuracy, and the motor speed (ω B) cannot be corrected appropriately.

Next, in comparative example 2 shown in fig. 6C, disturbance estimation is performed after delay estimation, and the broken line indicates a torque command value and the solid line indicates a motor speed. In the case where a torque command value for increasing the torque is output during the rotation of the motor, since the disturbance estimation control is performed after the delay estimation in fig. 6C, when the parameter variation or the load variation of the motor occurs, the control becomes unstable, the motor speed is actively increased with respect to the torque command value, or the motor speed follows the torque command value with a delay.

Fig. 6A shows the control of the present embodiment, with the broken line indicating the torque command value and the solid line indicating the motor speed. When a torque command value for increasing the torque is output during the rotation of the motor, the disturbance estimation is performed and the delay estimation control is performed thereafter in the present embodiment, so that the delay can be estimated with high accuracy, and the motor speed (ω B) can be corrected. Thus, in the present embodiment, the motor speed can follow the torque command substantially without delay, and a highly responsive and stable control device can be provided.

As described above, the present embodiment adopts the following configuration: a disturbance estimation block is provided for estimating only disturbance torque of a motor, a delay estimation block is provided for correcting the motor speed based on a torque command without delay, the motor speed with delay, and an output of the disturbance estimation block, and when the disturbance torque is generated, an estimation result of the disturbance torque is reflected in the delay estimation block. According to the present embodiment, even when there is a fluctuation in disturbance torque or delay, it is possible to estimate the delay with high accuracy by separating the disturbance torque from the delay, and it is possible to provide a control device which is highly responsive and stable in a system with delay and which does not cause a steady-state deviation.

In embodiment 1, an example in which the motor MTR is controlled by the ECU1 that is the upper control device and the ECU2 that is the lower control device has been described, but the present embodiment is not limited to this configuration. For example, the power conversion device may be connected to an upper control device (control device). The control device is provided with the interference estimation unit and the delay estimation unit.

The control device generates a torque command for input to the motor MTR and sends the torque command to the power conversion device. The power conversion device receives a torque command from the control device, and applies a voltage to the motor MTR in accordance with the torque command.

The disturbance estimation unit estimates a disturbance based on a feedback value that is a control amount of the motor MTR and a voltage applied to the motor MTR. The delay estimation unit estimates a delay from the torque command, the feedback value of the motor MTR, and the estimated disturbance.

The motor MTR sometimes performs idling operation without applying a load. When the motor MTR is in the idle operation, the motor MTR generates less heat, and the control amount is less affected by the characteristics inherent to the motor MTR. That is, when the motor MTR is idling, the influence of the disturbance torque is small. Therefore, the function of the disturbance estimating unit is stopped during the idling operation of the motor MTR. Then, the delay estimating unit estimates a delay from the torque command and the feedback value of the motor MTR, and sets the estimated delay to the voltage which becomes the input of the disturbance estimating unit.

According to such an embodiment, the function of the disturbance estimating unit is stopped during the idle operation of the motor MTR, and the delay estimating unit estimates the delay based on the torque command and the feedback value of the motor MTR, so that the power consumption can be suppressed.

Example 2

Next, a motor control device according to embodiment 2 of the present invention will be described with reference to fig. 7. Fig. 7 is a configuration diagram of an interference estimation block according to embodiment 2 of the present invention. In embodiment 2, the disturbance estimating block 100 used in embodiment 1 is configured by an observer (state observer), a kalman filter, or the like, and estimates a state when the state of the control system cannot be directly observed. In other words, the observer and the kalman filter function as a state estimating unit.

In embodiment 1, the disturbance estimating block 100 calculates (estimates) an estimated disturbance torque by using a difference between a torque command (τ × C) and a back-calculated torque (τ r) obtained from a motor speed (ω B) ((r)) as shown in fig. 4τdB). However, the interference estimation block 100 shown in fig. 4 requires a differential operation even when approximated, and is limited to a case where noise is hardly contained in an actual operation. Furthermore, there are difficulties in directly inferring allThe disturbance torque (τ d) may increase the product cost by adding a detection sensor.

Therefore, embodiment 2 proposes a control device that estimates disturbance torque (τ d) without any problem even if noise is included, without adding a new detection sensor, improves the accuracy of delay estimation, and is more robust to delay. The motor control device of embodiment 2 is basically the same in configuration as embodiment 1, but differs in that the disturbance estimating block 100 is constituted by an observer.

The observer estimates disturbance torque from a torque command (τ × C) that is a control command of the motor MTR and measurement of a motor speed (ω B), and the disturbance torque is disposed as a mathematical model in an arithmetic device such as a microcomputer. Furthermore, the observer may also be a kalman filter.

The mathematical model for estimating the disturbance torque (τ d) is expressed by the following equation.

[ formula 2]

The equation (2) describes the disturbance torque (τ d) input to the motor MTR as a state quantity. There is a method of estimating the state using the observer gain (L1) for the mathematical model shown in equation (2). When expressed by the formula, the expression (3) is obtained.

[ formula 3]

Here, the observer gain (L1) may be set for the purpose of defining the time until the estimation of the disturbance torque (τ d) converges, stabilizing the disturbance estimation block, or the like. The observer represented by equation (3) is disposed in the disturbance estimating block 100 in fig. 3, and if represented by a functional block, it is fig. 7.

The disturbance estimating block 100A in embodiment 2 is constituted by an input matrix block 104, an observer gain block 105, an observer system matrix block 106, an integral operation block 107, and an output matrix block 108. The torque command (τ × C) is input to the input matrix block 104, and the motor speed (ω B) is input to the observer gain block 105. Further, the output of the integral operation block 107, i.e., the inferred state (XA), is input to the observer system matrix block 106. The outputs of the input matrix block 104, the observer gain block 105, and the observer system matrix block 106 are added and input to the integral operation block 107, respectively, and an estimation state (XA) is output. The estimation state (XA) which is an output of the integral operation block 107 is input to the output matrix block 108, and the estimated disturbance torque (τ dB) is output. The input matrix block 104, observer gain block 105, and observer system matrix block 106 are constant matrices of state equations shown in equation (3). In this way, the disturbance torque (τ d) can be obtained (estimated) by expressing the disturbance torque (τ d) as a state by using the state equation.

The interference estimation block 100A in embodiment 2 is generally configured as a full-dimensional observer, but a minimum-dimensional observer, a linear function observer, or the like may be used as necessary, and various interference estimation methods such as a steady-state kalman filter obtained by optimizing the full-dimensional observer may be applied.

The disturbance estimating block 100A may be used for the purpose of estimating other state quantities in addition to the purpose of estimating the disturbance torque (τ d).

According to embodiment 2, differentiation as in the interference estimation block 100 described in embodiment 1 is not necessary, and therefore, a noise-tolerant apparatus can be provided. Further, according to embodiment 2, there is no need to add a special detection sensor, and therefore an increase in product cost can be suppressed.

Example 3

Next, a motor control device according to embodiment 3 of the present invention will be described with reference to fig. 8. Fig. 8 is a block diagram of the delay evaluating block according to embodiment 3 of the present invention. In embodiment 3, the delay estimation block 200 used in embodiments 1 and 2 is configured by an observer (state observer), a kalman filter, or the like, and estimates the state when the state of the control system cannot be directly observed.

In embodiment 1 and embodiment 2, the delay estimation block 200 estimates the disturbance torque (tau) from the torque command (tau a) as shown in fig. 5τdB) And a motor speed (ω B) to obtain an estimated delay torque (ω B) corresponding to the delay of the first delay 10A and the second delay 10BτiA). However, the delay estimation block 200 shown in fig. 5 requires a differential operation even when approximated, and is limited to a case where noise is hardly contained in an actual application. Further, it is difficult to directly estimate all the delay disturbances, and there is a possibility that addition of a detection sensor may occur, resulting in an increase in product cost.

Therefore, embodiment 3 proposes a control device that estimates a delay without any problem even if noise is included, without adding a new detection sensor, improves the accuracy of delay estimation, and is more robust to delay. The motor control device of embodiment 3 is basically the same in configuration as those of embodiments 1 to 2, but differs in that the delay evaluating block 200 is constituted by an observer.

The observer estimates a delay torque (τ i) from a torque command (τ × C) which is a control command of the motor MTR and measurement of a motor speed (ω B), and the estimated delay torque (τ i) is disposed as a mathematical model in an arithmetic device such as a microcomputer. Furthermore, the observer may also be a kalman filter.

The mathematical model in the delay inference of embodiment 3 is represented by the following equation (4).

[ formula 4]

Equation (4) is characterized in that the delay torque (τ i) is expressed as a state in addition to the disturbance torque (τ d). In addition, not only the motor speed (ω) but also the disturbance torque (τ d) is selected in the output equation. While the disturbance torque (τ d) is not directly observable in many cases, the disturbance estimation block 100 in embodiment 1 and the disturbance estimation block 100A in embodiment 2 estimate the disturbance torque: (t:)τdB) Is inferred, and therefore, by selecting it as the observed quantity, an observer can be constructed in which the disturbance torque (τ d) is separated from the delay torque (τ i). If the observer in embodiment 3 is expressed by the formula, the observer gain (L2) can be expressed by formula (5).

[ formula 5]

Here, with respect to the observer gain (L2), from the point of specification to the point of inferring the delay torque ((L2))τiA) The time until the estimation is converged, the purpose of stabilizing the delay estimation block, and the like may be set. The observer shown in equation (5) is disposed in the delay estimation block 200 in fig. 3, and is represented by a functional block, which is fig. 8.

The delay estimation block 200A in embodiment 3 is constituted by an input matrix block 206, an observer gain block 207, an observer system matrix block 208, an integral operation block 209, an output matrix block 210, and a motor simulation model 300. The torque command (τ x a) is input to the input matrix block 206, the motor speed (ω B) and the inferred disturbance torque (τ x a)τdB) Input to the observer gain block 207. Further, the output of the integral operation block 209, i.e., the inferred state (XB), is input to an observer system matrix block 208. The outputs of the input matrix block 206, observer gain block 207, and observer system matrix block 208 are added and input to the integral operation block 209, respectively, and an estimation state (XB) is output. The output of the integral operation block 209 is the inferenceThe state (XB) is input to the output matrix block 210, which outputs the inferred delay torque: (τiA). Inferring retard torque: (τiA) As described in embodiment 1, the correction amount (ω X) for correcting the motor speed (ω B) is calculated by inputting the correction amount to the motor simulation model 300.

The input matrix block 206, observer gain block 207, observer system matrix block 208, and output matrix block 210 are constant matrices of the state equation shown in equation (5). Thus, by inferring disturbance torque (τdB) The delay torque (τ i) can be obtained (estimated) by inputting the delay torque (τ i) to the observer gain block 207 and expressing the delay torque (τ i) as a state.

The delay estimation block in embodiment 3 is generally a structure called a full-dimensional observer, but a minimum-dimensional observer, a linear function observer, or the like may be used as necessary, and various estimation methods such as a steady-state kalman filter obtained by optimizing the full-dimensional observer may be applied.

In addition to the purpose of estimating the delay torque (τ i), the delay estimation block 200A may be used for the purpose of estimating other states.

According to this embodiment, the advantage of noise resistance is obtained because the differentiation as in the delay estimation block 200 described in embodiment 1 is not necessary. Further, since no special detection sensor is required, an increase in product cost can be suppressed.

Example 4

Next, a motor control device according to embodiment 4 of the present invention will be described with reference to fig. 9. Fig. 9 is a configuration diagram of a motor simulation model according to embodiment 4 of the present invention. Embodiment 4 sets the motor simulation models 300 of the delay evaluating blocks 200 and 200A used in embodiments 1 and 2 and 3 faster than the mechanical response of the motor MTR. Specifically, the motor simulation model 300 is set to have a response faster than the mechanical time constant of the motor MTR.

The motor simulation model 300A in embodiment 4 is composed of a torque response simulation block 303, a rotational motion simulation block 305, and a motor speed correction block 205.

Inferring retard torque: (τiA) Input deviceTo the torque response simulation block 303, a delayed torque response 304 is output. The delayed torque response 304 is input to the rotational motion simulation block 305, and the estimated (inferred) delayed torque is obtained (τiA) The resulting rotational motion outputs a correction amount (ω X). The motor speed (ω B) and the correction amount (ω X) are input to the motor speed correction block 205, and a difference between the motor speed (ω B) and the correction amount (ω X) is obtained. The difference between the motor speed (ω B) and the correction amount (ω X) is output as a corrected motor speed (ω C) and sent to the speed control block 20.

The torque response simulation block 303 is a simulation of the torque generation section 30 in fig. 1. The torque response simulation block 303 in embodiment 4 is simulated by a first order lag of the time constant T as shown in fig. 8.

The rotational motion simulation block 305 is a simulation of the rotational motion unit 40 of the motor MTR in fig. 1. In embodiment 4, the viscous friction coefficient D and the inertia J are used with a time constant as shown in fig. 8J/D ofThe first order lag is modeled.

In embodiments 1 to 3, the motor simulation model 300 uses the extrapolation delay torque (c) as shown in fig. 3τiA) The corrected motor speed (ω C) is obtained from the difference between the obtained correction amount (ω X) and the motor speed (ω B). The motor simulation model 300A shown in fig. 9 is basically created based on the design value of the motor MTR, but in many cases, the actual motor MTR has almost no inertia, and the viscous friction coefficient is consistent with the design value, and fluctuates depending on the surrounding environment (temperature, etc.). It is known that the viscous friction coefficient of the motor MTR generally increases, for example, in the case where the ambient temperature becomes low. Even if the inertia is the same before and after the temperature change, the mechanical time constant of the motor MTR decreases as the viscous friction coefficient increases. As described above, since a modeling error between the motor simulation model and the motor MTR occurs when the mechanical time constant of the motor MTR fluctuates, even if the delay estimation block 200 estimates the estimated delay torque with high accuracy: (τiA) The correction amount (ω X) may not be accurately obtained. In particular, when the response of the motor simulation model 300A is slower than the response of the motor MTR, the correction amount (ω X) may be insufficient, and there is a possibility that the first delay 10A and the second delay 10b cannot be removedThe two delay 10B.

In embodiment 4, the time constant of the torque response simulation block 303 that will determine the response of the motor simulation model 300ATAnd the time constant of the rotational motion simulation block 305J/DSet faster than the response of the motor MTR.

When the response of the motor simulation model 300A is made faster than the motor MTR, the convergence of the correction amount (ω X) is accelerated. Therefore, since the time until the motor speed (ω C) reaches the steady state after the correction is shortened, the motor speed (ω C) is easily stabilized by the speed control block 20.

Time constant T of torque response simulation block 303 and time constant of rotational motion simulation block 305J/DAs shown in equation (1) and the like, the response faster than the motor MTR may be set with reference to the torque response (T), the inertia (J), and the viscous friction coefficient (D) which are designed in advance. In addition, the time constant T of the torque response simulation block 303 and the time constant of the rotational motion simulation block 305J/DThe motor MTR does not need to be a fixed value, and may be adjusted as appropriate by providing a function of discriminating a parameter of the motor MTR.

According to embodiment 4, by making the response of the motor simulation model 300A faster than the motor MTR, the time for the correction amount (ω X) to converge is shortened, and the post-correction motor speed (ω C) becomes stable. This makes it easy to stabilize the motor speed (ω C) by the speed control block 20, and therefore, improvement of the responsiveness of the motor speed (ω C) and the like can be expected.

Example 5

Next, a case where embodiments 1 to 4 are applied to an electric brake device will be described.

Next, an example in which the motor control device according to each of the above embodiments is applied to an electric brake device will be briefly described with reference to fig. 10. Fig. 10 is a configuration diagram of an electric brake device according to embodiment 5 of the present invention. Fig. 10 shows a configuration of an electric brake device in which a caliper is controlled by a rotational force of a motor instead of a hydraulic brake device.

In fig. 10, the electric brake device includes a caliper 50 providing a braking function, a piston 52 is disposed inside a caliper body 51 constituting the caliper 50, and the piston 52 has a function of driving a 1 st brake disc 53. Further, a 2 nd brake disc 54 is attached to one end of the caliper main body 51, and a disc rotor 55 fixed to the axle is disposed between the 1 st brake disc 53 and the 2 nd brake disc 54. The disc rotor 55 is braked so as to be sandwiched between the 1 st brake disc 53 and the 2 nd brake disc 54.

The piston 52 disposed on the caliper main body 51 is coupled to a speed reduction mechanism 57 via a rotation/linear motion conversion mechanism 56. The rotation/linear motion conversion mechanism 56 is configured by using a slide screw, and is composed of a rotating shaft having a spiral thread surface formed on the outer periphery, and a linear motion member having a thread surface internally screwed with the thread surface of the rotating shaft. The linear motion member is integrally connected to the piston 52, and the linear motion member can move the piston 12 in the axial direction of the rotary shaft by the rotation of the rotary shaft.

In addition, in embodiment 5, the rotation/linear motion converting mechanism 56 is provided with a self-lock function portion, and when the rotation shaft is rotated, the linear motion member is linearly moved, and when the rotation of the rotation shaft is stopped, the linear motion member maintains its position even if a force acts on the linear motion member in the linear motion direction. That is, the rotation shaft and the linear motion member have spiral thread surfaces with a lead angle smaller than the friction angle, thereby obtaining a self-locking function. A rotation/linear motion converting mechanism 56 using such a thread face is well known.

As shown in fig. 10, the rotation shaft is fixed to a large-diameter gear 58 of the reduction mechanism 57, and the large-diameter gear 58 and a small-diameter gear 59 are meshed together. The small-diameter gear 59 is rotated by the motor MTR, and the rotation of the motor MTR is transmitted to the small-diameter gear 59 and the large-diameter gear 58 to be decelerated. The rotation of the large-diameter gear 58 amplifies the torque of the motor MTR and transmits the amplified torque to the rotation/linear motion converting mechanism 56 fixed to the rotating shaft.

The supply of electric power (torque command) to the motor MTR is controlled by an electronic control unit 60 provided with a motor control function unit shown in fig. 1 to 5 and 6 to 9, and the motor control function unit is constituted by a known microprocessor 61, an input/output circuit 62, and the like. In embodiment 5, the electronic control unit 60 corresponds to an upper control device (ECU1), and the motor MTR includes a lower control device (ECU 1). When the braking operation is performed, predetermined electric power is supplied from the electronic control unit 60 to the motor MTR to rotate the motor MTR, and this rotation rotates the rotating shaft via the gears 58 and 59 of the speed reduction mechanism 57. When the rotating shaft rotates, the linear motion member and the piston 52 move leftward in fig. 10, and the 1 st brake disc 53 is pressed against the disc rotor 55 with a predetermined thrust force (pressing force) to apply braking.

In such an electric brake device, when the brake pedal is depressed, if the control responsiveness is not high, a phenomenon that the braking force cannot be quickly transmitted to the disc rotor occurs, or if an overshoot occurs, a phenomenon that the braking force is excessively applied to the disc rotor occurs.

In such an electric brake device, since the motor MTR is provided in the vicinity of the disc rotor 55, the motor MTR is easily affected by frictional heat generated by the disc rotor 55. Further, when the motor MTR is held at a certain position to maintain the braking force, the electric power (torque command) needs to be continuously supplied to the motor MTR, which causes the temperature of the motor MTR to increase. In this way, in the electric brake device, the motor MTR is placed in an environment in which the temperature is likely to rise.

Therefore, when the temperature of the motor MTR has excessively increased, the temperature increase can be prevented by a countermeasure such as temporarily limiting the supply amount of electric power (torque command) from the electronic control unit 60. However, in this case, the control command of the motor MTR cannot be made to coincide with the control amount, and a steady-state deviation occurs. Further, the steady state deviation is also caused by rust on the mechanism side, an increase in friction force due to aging, and the like.

In a state where such a steady-state deviation occurs, for example, when the control command is abruptly changed (so-called step change) due to an emergency operation of the brake pedal, if the integral control function is provided in the electronic control unit 60, the following phenomenon may occur: as described above, overshoot occurs to excessively apply a braking force to the disk rotor 55, or the motor MTR is excessively reversed to break the mechanism.

In contrast, the electric brake device according to embodiment 5 includes the motor control function unit shown in fig. 1 to 5 and 6 to 9. The electronic control unit 60 includes an interference estimation unit and a delay estimation unit.

The disturbance estimation unit estimates a disturbance using a torque command input to the motor and a feedback value of the motor. The delay estimation unit estimates a delay using the torque command, the feedback value of the motor, and the disturbance torque estimated by the disturbance estimation unit.

The disturbance estimation unit further includes a back-calculated torque calculation unit that back-calculates a feedback value of the motor to calculate a back-calculated torque, and an estimated disturbance torque calculation unit that estimates a disturbance as a disturbance torque based on a difference between the back-calculated torque calculated by the back-calculated torque calculation unit and the torque command, and sends the disturbance torque to the delay estimation unit.

The delay estimation unit further includes a delay torque calculation unit that calculates a delay torque based on the feedback value of the motor, the disturbance torque, and the torque command.

Further, the delay estimating unit includes a motor simulation model that simulates the motor, and corrects the feedback value of the motor recognized by the electronic control unit 60 by inputting the delay torque to the motor simulation model.

With the above configuration, according to embodiment 5, the braking force corresponding to the amount of depression of the brake pedal can be quickly set to obtain a predetermined braking operation. Therefore, when the brake pedal is depressed, it is possible to reduce a phenomenon that the braking force cannot be quickly transmitted to the disc rotor and a phenomenon that the braking force is excessively applied to the disc rotor when an overshoot occurs.

Further, according to embodiment 5, even when a steady-state deviation occurs due to an increase in friction force caused by a temperature increase of the motor MTR, a mechanism-side rust, or a secular change, or the like, or a sudden change in the control command is generated in association with an emergency operation of the brake pedal, by providing the motor control function unit shown in any one of fig. 1 to 5 and 6 to 9, it is possible to obtain an effect of suppressing an excessive braking force from being applied to the disc rotor 55 or an excessive reverse rotation of the motor MTR.

The present invention includes various modifications, and is not limited to the embodiments described above. For example, the above-described embodiments are intended to explain the present invention in a manner that is easy to understand, and are not necessarily limited to all the configurations explained. Note that a part of the configuration of one embodiment may be replaced with the configuration of another embodiment, and the configuration of one embodiment may be added to the configuration of another embodiment. Further, addition, deletion, and replacement of another configuration may be performed on a part of the configuration of each embodiment.

Description of the symbols

10a … first delay, 10B … second delay, 20 … speed control block, 30 … torque generating section, 40 … rotary motion section, 50 … brake caliper, 51 … caliper body, 52 … piston, 53 … first brake pad, 54 … second brake pad, 55 … disc rotor, 56 … rotary/linear motion converting mechanism, 57 … speed reducing mechanism, 58 … large diameter gear, 59 … small diameter gear, 60 … electronic control element, 61 … microprocessor, 62 … input/output circuit, 100 … disturbance estimating block, 100a … disturbance estimating block, 101 … back-calculating torque calculating block, 102 … estimated disturbance torque calculating block, 103 … low pass filter, 104 … input matrix block, 105 … observer gain block, 106 … observer system matrix block, 107 … integral calculating block, 108 … output matrix block, 200 … delay estimating block, 200a … delay estimating block, 201 back-calculating torque calculating block, 105 201 … back-calculating block, 202 … disturbance torque removal block, 203 … low pass filter, 204 … delay torque operation block, 205 … motor speed correction block, 206 … input matrix block, 207 … observer gain block, 208 … observer system matrix block, 209 … integral operation block, 210 … output matrix block, 300 … motor simulation model, 300a … motor simulation model, 301 … filter, 302 … correction operation block, 303 … torque response simulation block, 304 … delay torque response, 305 … rotational motion simulation block.