JP3626432B2 - Vehicle motor control device and diagnostic method for vehicle motor control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle motor control device used in a vehicle such as an electric vehicle or a hybrid vehicle.
[0002]
[Prior art]
Conventionally, in an electric vehicle and a hybrid vehicle, a control device that employs a three-phase AC synchronous motor as a drive motor and performs torque control by vector control of an inverter is known (Japanese Patent Laid-Open No. 2000-134716). In this electric vehicle control apparatus, the torque processing controller transmits a torque command to the motor controller, and the motor controller that receives the torque command controls the inverter.
[0003]
The motor controller has a main microcomputer (hereinafter referred to as a main microcomputer) and a sub microcomputer (hereinafter referred to as a sub microcomputer). The main microcomputer determines the d-axis current command value Idm *, the q-axis current command value Iqm *, which are motor control command values, and the motor electric power based on the torque command determined by the operating condition such as the accelerator state and the actual rotation angle of the motor The angle θm is calculated. The sub-microcomputer also generates a d-axis current command value Ids *, a q-axis current command value Iqs *, and a motor electrical angle, which are pseudo motor control command values, based on the torque command and the motor electrical angle calculated by the main microcomputer. θs is calculated. The main microcomputer compares the d-axis current command value Idm * -Ids *, the q-axis current command value Iqm * -Iqs *, and the motor electrical angle θm-θs, and the difference is a predetermined value. If it is larger, the control is diagnosed as abnormal and the power supply to the motor is stopped. The sub microcomputer calculates current command values Ids * and Iqs * and coordinate transformation values Ids and Iqs of the three-phase motor currents Iu, Iv and Iw, compares Ids and Ids *, Iqs and Iqs *, and compares the difference between them. If is larger than a predetermined value, a control abnormality is diagnosed, and power supply to the motor is stopped. Further, the sub-microcomputer also compares θm−θs to diagnose a control abnormality, and the abnormality diagnosis stops the power supply to the motor.
[0004]
Conventionally, the diagnostic function of the main microcomputer and the sub microcomputer is diagnosed for the purpose of ensuring the reliability of such diagnosis. This diagnosis (hereinafter referred to as torque comparison function diagnosis) is performed by outputting the above-described various command values in a pseudo manner when the vehicle is started. At this time, the control is switched to sensorless control, and the current control gain of the feedback control loop for the current of each phase is switched to a value larger than that during normal running. Thereby, it is possible to prevent the motor from being operated by the pseudo various current commands of the diagnosis times, and to suppress the influence of the vehicle behavior, for example, undesired vibration of the vehicle.
[0005]
[Problems to be solved by the invention]
However, in the conventional diagnosis of the torque comparison function, only the d-axis current is passed so that no torque is generated in the motor. However, an estimation error of the motor magnetic pole position due to sensorless control occurs, and the q-axis is very small. Current was flowing. Since the motor is activated by the current flowing through the q-axis and the vehicle behavior is affected, the passenger may feel uncomfortable.
[0006]
An object of the present invention is to provide a vehicle motor control device that does not cause unnecessary vehicle behavior when diagnosing a torque comparison function.
[0007]
[Means for Solving the Problems]
The present invention will be described with reference to FIGS. 1 to 3 showing an embodiment.
(1) A vehicle motor control device according to the present invention includes a power conversion device 1 that converts DC power into AC power and supplies the power to the motor 4, and a first control that controls power applied from the power conversion device 1 to the motor 4. A first arithmetic unit 21 that calculates a motor control command of the second, a second arithmetic unit 31 that calculates a pseudo second motor control command for the first motor control command, and first and second arithmetic units Comparison stop devices 21, 31, 41 that compare and calculate the first and second motor control commands calculated respectively by 21, 31 and stop the supply of power to the motor 4 when the comparison calculation result indicates an abnormality. And the maximum drive frequency of the motor 4 Greater than By providing diagnostic first and second motor control commands having a frequency to the comparison stop devices 21 and 31 and diagnosing whether or not the comparison operation is normally performed, the diagnostic devices 21 and 31 are provided. Achieve the goal.
(2) The invention of claim 2 is the vehicle motor control device according to claim 1, wherein the motor 4 is a three-phase AC synchronous motor 4 driven by electric power from the vector-controlled power conversion device 1, The first computing device 21 computes the d-axis current, the q-axis current, and the motor electrical angle based on the torque command value determined by the operating conditions and the actual rotation angle of the motor 4, and the second computing device 31 The d-axis current, the q-axis current, and the motor electrical angle are calculated based on the torque command value and the motor electrical angle calculated by the first calculation device 21.
(3) The invention of claim 3 is the vehicle motor control device of claim 2, wherein the diagnosis devices 21 and 31 perform diagnosis by setting the q-axis current to zero and giving a predetermined value to the d-axis current. And
(4) The invention of claim 4 is the vehicle motor control device of claim 2, wherein the diagnosis devices 21 and 31 perform diagnosis by setting the d-axis current to zero and giving a predetermined value to the q-axis current. And
(5) The invention according to claim 5 is the vehicle motor control device according to any one of claims 2 to 4, wherein the comparison stop devices 21, 31, 41 are the d-axis current calculated by the first calculation device 21. The d-axis current calculated by the second calculation device 31, the q-axis current calculated by the first calculation device 21, the q-axis current calculated by the second calculation device 31, and the first calculation device 21 The calculated motor electrical angle is compared with the motor electrical angle calculated by the second calculation device 31, and when the comparison result indicates an abnormal value, the supply of power to the motor 4 is stopped. Features.
(6) The invention according to claim 6 is the vehicle motor control device according to any one of claims 1 to 5, The diagnostic devices 21 and 31 diagnose whether or not the comparison calculation is normally performed. Detect the time constant used for the diagnosis before The detected time constant value is When confirming that it is normal Diagnosis It is characterized by performing.
(7) The seventh aspect of the invention relates to a diagnostic method for a vehicle motor control device that converts DC power into AC power and applies the AC power to the motor 4, and provides a first motor control command for controlling the power applied to the motor 4. Calculate, calculate a pseudo second motor control command for the first motor control command, compare and calculate the first and second motor control commands, and when the comparison calculation result indicates an abnormality, to the motor 4 Power supply is stopped and the maximum drive frequency of the motor 4 Greater than It is characterized by diagnosing whether or not the comparison operation is normally performed by the first and second motor control commands for diagnosis having a frequency.
[0008]
In the section of the means for solving the above-described problems, the present invention is associated with FIGS. 1 to 3 of the embodiment for easy understanding. However, the present invention is limited to the embodiment. It is not a thing.
[0009]
【The invention's effect】
The present invention has the following effects.
(1) According to the inventions of claims 1 to 7, the maximum drive frequency of the motor at the time of torque comparison function diagnosis Greater than By using a frequency motor control command value, the motor does not rotate even when a current flows through the q-axis that generates torque in the motor. Thereby, the influence of a vehicle behavior can be suppressed.
(2) According to the invention of claim 3 or 4, the torque comparison function can be diagnosed accurately by setting either the d-axis current or the q-axis current to zero.
(3) According to the invention of claim 5, each of the d-axis current, the q-axis current and the motor electrical angle calculated by the first and second control devices is compared to diagnose that the torque comparison function is abnormal. Since the supply of power to the motor 4 is stopped at this time, the torque comparison function can be diagnosed accurately, and the driver's safety can be ensured without running the vehicle when the torque comparison function is abnormal.
(4) According to the invention of claim 6, the torque comparison function can be diagnosed more accurately by detecting the time constant used for the diagnosis of the torque comparison function before the diagnosis and determining the normality / abnormality. Can do.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
The configuration of an embodiment of a vehicle motor control device according to the present invention is shown in FIG. In this vehicle motor control apparatus, for example, an inverter (INV) 1 that converts DC power of a battery 8 used in an electric vehicle and a hybrid vehicle into a three-phase alternating current is a torque processing controller that controls the running state of the electric vehicle and the hybrid vehicle. Controlled by (TP / C) 2 and motor controller (M / C) 3. A current detector 5 for detecting motor currents Iu, Iv, Iw of each phase is supplied to U, V, W power supply lines for supplying power from the inverter 1 to the three-phase AC synchronous motor, which is the drive motor 4. Is installed. The encoder 6 detects the rotation angle signal of the drive motor 4 in order to recognize the magnetic pole position. The three-phase currents Iu, Iv, Iw detected by the respective current detectors 5 and the rotation angle signal detected by the encoder 6 are fed back to the motor controller 3.
[0011]
The torque processing controller (TP / C) 2 calculates a torque command value based on the accelerator signal, the shift signal, the brake signal, and the motor speed calculated by the motor controller 3 based on the signal of the encoder 6, Output. The motor controller 3 calculates a PWM signal based on the torque command value calculated by the torque processing controller 2, the motor current of each phase detected by each current detector 5, and the motor rotation angle signal detected by the encoder 6. A switching element (not shown) of the inverter 1 is driven based on the PWM signal, and converts a direct current of the battery 8 into an alternating current of a desired voltage and outputs it. Further, the motor controller 3 opens the switch 7 when a condition described later is satisfied, and interrupts the supply of power from the battery 8 to the inverter 1.
[0012]
The internal configuration of the motor controller 3 is shown in FIG. The motor controller 3 includes a main microcomputer 21, a sub microcomputer 31, and an OR circuit 41. The main microcomputer 21 includes a motor control calculation unit 22, a coordinate conversion unit 23, a comparison unit 24, a current control unit 25, a control mode switching unit 26, and a gain setting unit 27. The sub-microcomputer 31 includes a motor control calculation unit 32, a coordinate conversion unit 33, and a comparison unit 34.
[0013]
The motor control calculation unit 22 in the main microcomputer 21 is based on the torque command value calculated by the torque processing controller 2 and the motor rotation angle signal detected by the encoder 6, and the d-axis current command value Idm that is a motor control command value. *, Q-axis current command value Iqm * and motor electrical angle θm are calculated and input to the comparison unit 24 and the current control unit 25. The motor electrical angle θm is also input to the coordinate conversion unit 23 and the coordinate conversion unit 33 of the sub-microcomputer 31. The coordinate conversion unit 23 converts each phase motor current Iu, Iv, Iw detected by each current detector 5 based on the motor electrical angle θm calculated by the motor control calculation unit 22 into a feedback value Idm of the d-axis current and Coordinates are converted into a q-axis current feedback value Iqm (three-phase / 2-phase conversion) and output to the current control unit 25. The comparison unit 24 includes motor control command values Idm *, Iqm *, θm calculated by the motor control calculation unit 22 and pseudo motor control command values Ids *, Iqs calculated by a motor control calculation unit 32 in the sub-microcomputer 31 to be described later. * And θs are respectively compared, and if there is a difference greater than or equal to a predetermined value, a stop command is output to the OR circuit 41. Current controller 25 performs current feedback control based on motor control command values Idm *, Iqm *, θm and current feedback values Idm, Iqm, and outputs a PWM signal to inverter 1.
[0014]
The motor control calculation unit 32 in the sub-microcomputer 31 is based on the torque command value calculated by the torque processing controller 2 and the motor rotation angle signal detected by the encoder 6, and is a d-axis current command value that is a pseudo motor control command value. Ids *, q-axis current command value Iqs *, and motor electrical angle θs are calculated and input to the comparison unit 34 and the comparison unit 24 in the main microcomputer 21. The coordinate conversion unit 33 feeds back the motor currents Iu, Iv, Iw detected by the respective current detectors 5 based on the motor electrical angle θm calculated by the motor control calculation unit 22 in the main microcomputer 21 to feedback of the d-axis current. Coordinate conversion (3-phase / 2-phase conversion) is performed on the value Ids and the feedback value Iqs of the q-axis current. The comparison unit 34 compares the motor control command values Ids * and Iqs * calculated by the motor control calculation unit 32 with the current feedback values Ids and Iqs converted by the coordinate conversion unit 33, respectively. Further, the motor electrical angle θm calculated by the motor control calculator 22 in the main microcomputer 21 and the motor electrical angle θs calculated by the motor control calculator 32 in the sub-microcomputer 31 are compared. As a result of these comparisons, if there is a difference greater than or equal to a predetermined value, an inverter 1 stop command (MCFAIL signal and FCFAIL signal described later) is output to the OR circuit 41.
[0015]
FIG. 3 is a diagram illustrating the flow of signals such as current command values and abnormality determination signals between the main microcomputer 21 and the sub-microcomputer 31 of the motor controller 3. In the figure, Idm * and Iqm * are respectively a d-axis current command value and a q-axis current command value calculated by the motor control calculation unit 22 of the main microcomputer 21 with respect to the torque command. Ids * and Iqs * are a d-axis current command value and a q-axis current command value calculated by the motor control calculation unit 32 of the sub-microcomputer 31 with respect to the torque command, respectively. Ids and Iqs are respectively a d-axis feedback current and a q-axis feedback current calculated by the coordinate conversion unit 33 based on the motor currents Iu, Iv and Iw detected by the current detector 5 and the motor rotation angle detected by the encoder 6. Is shown.
[0016]
As described above, the comparison unit 24 in the main microcomputer 21 compares the d-axis current command values Idm * and Ids * and the q-axis current command values Iqm * and Iqs *, respectively. If it is larger than the predetermined value, a control abnormality is diagnosed. The comparison unit 34 in the sub-microcomputer compares the d-axis current command value Ids * and the coordinate conversion value Ids, and the q-axis current command value Iqs * and the coordinate conversion value Iqs, respectively. If it is larger, the control is diagnosed as abnormal. When a control abnormality is diagnosed, the RLYCUT signal is output from the OR circuit 41 and the switch 7 is opened. The RLYCUT signal is also input to the main microcomputer 21 and the sub-microcomputer 31, respectively. Further, the control abnormality signal MCFAIL signal from the main microcomputer 21 is input to the sub microcomputer 31, and the control abnormality signal FCFAIL signal from the sub microcomputer 31 is input to the main microcomputer 21.
[0017]
In the vehicle motor control device according to the present invention, the maximum drive frequency at which the motor 4 can be driven for the above-described torque comparison function diagnosis. Greater than Use high frequency current. Thereby, even when a current flows through the q-axis, the motor 4 is not driven, so that the influence of the vehicle behavior can be suppressed. The vehicle behavior is, for example, that the vehicle travels undesirably.
[0018]
The control mode switching unit 26 instructs both of the motor control calculation units 22 and 32 to switch to the sensorless control mode in order to diagnose the torque comparison function when the vehicle is started. The gain setting unit 27 receives the command for switching the sensorless control mode, and sets the integral gain and the proportional gain in the sensorless control mode in the current control unit 25. This control gain is a value larger than the value set during normal driving, thereby performing the torque comparison function diagnosis in a short time (for example, 30 ms) and reducing the influence on the vehicle behavior. In the sensorless control, the current values Iu, Iv, and Iw of each phase detected by the current detector 5 are obtained by three-phase / 2-phase coordinate conversion without using the motor rotation angle signal detected by the encoder 6. PI control using the current values Ids and Iqs and the current command values Ids * and Iqs * is performed. By this sensorless control, a current command is given only to the d-axis, and the position of the motor magnetic pole is detected from the q-axis motor current detection value.
[0019]
Hereinafter, diagnosis control of the torque function when the vehicle is started by the motor controller 3 will be described with reference to FIGS. The control starting from step S1 starts when the operator operates a start switch (not shown) for starting the vehicle. In the following control, the main microcomputer 21 and the sub microcomputer 31 execute respective processes in parallel. In step S1, it is determined whether or not the activation of the main microcomputer 21 has been completed. This is done by confirming that the inverter relay 7 has been turned on, that the motor rotation has stopped (or that it is below a predetermined value), and that the phase counter has been initialized. If it determines with starting of the main microcomputer 21 having been completed, it will progress to step S2, and if it determines with having not completed, it will wait in step S1 until starting is completed.
[0020]
In step S2, it is determined whether or not the motor speed is smaller than 50 rpm. This is a condition for starting sensorless control. That is, in step S2, it is determined whether or not a condition for switching to sensorless control is satisfied. If it is determined that the motor rotation speed is smaller than 50 rpm, the process proceeds to step S3. If it is determined that the motor rotation speed is 50 rpm or more, the process waits in step S2.
[0021]
In step S3, various control gains in the feedback control loop of the current control unit 25 are switched to control gains for sensorless control. This is performed by the gain setting unit 27 in the main microcomputer 21. In the present embodiment, the integral gain of the d-axis and the q-axis is set to 4 times the normal value, and the proportional gain is set to 1.33 times the normal value. The gain value is not limited to these values, and is determined experimentally according to the control characteristics.
[0022]
When switching to the control gain for sensorless control in step S3, the process proceeds to step S4. In step S4, the magnetic pole position of the motor 4 is detected. In sensorless control, a current command value (≠ 0) is given only to the d-axis so that the motor 4 does not generate torque, so the position of the motor magnetic pole is detected from the d-axis motor current detection value. In the next step S5, it is determined whether or not the sensorless control is finished. This is determined by whether or not a predetermined time (for example, 30 ms) for performing sensorless control has elapsed. If it is determined that the sensorless control has ended, the process proceeds to step S6. If it is determined that the sensorless control has not ended, the process waits in step S5.
[0023]
In steps S6 to S9, the consistency of time constants used for abnormality diagnosis is determined. At the time of the torque comparison function diagnosis, since the accuracy of the time constant cannot be confirmed, the value of the time constant is confirmed before (after) the abnormality diagnosis by the comparison units 24 and 34. Thereby, even when the time constant is rewritten for some reason, the abnormality diagnosis can be performed accurately. In step S6, time constants ΔId1 and ΔIq1 are read from a time constant data ROM (not shown). In the next step S7, the time constants ΔId2 and ΔIq2 are read from a time constant data ROM (not shown), and the process proceeds to step S8. In step S8, it is determined whether or not ΔId1 and ΔIq1, and ΔId2 and ΔIq2 match each other. That is, it is determined whether or not the following equation (1) is satisfied.
ΔId1 = ΔIq1,
ΔId2 = ΔIq2 (1)
If it is determined that the relationship of the expression (1) is not satisfied, the process proceeds to step S9, where it is determined that there is an abnormality. If it determines with satisfy | filling the relationship of Formula (1), it will progress to step S10.
[0024]
In step S10, a transition is made to the diagnosis mode of the comparison units 24 and 34, that is, the torque comparison function diagnosis mode, and the process proceeds to step S11. In step S11, it is determined whether the rotational speed of the motor 4 is greater than 5000 rpm. If it is determined that the speed is greater than 5000 rpm, a signal to end the torque function diagnosis mode is transmitted in step S12, and the process proceeds to step S55. If it determines with it being 5000 rpm or less, it will progress to step S13.
[0025]
In step S13, a signal CHK1 for starting diagnosis of the comparison unit 34 in the sub-microcomputer 31 is output to the sub-microcomputer 31, and the process proceeds to step S14. In step S <b> 14, control for masking diagnosis by the comparison unit 24 in the main microcomputer 21 is performed. That is, while the diagnosis by the comparison unit 34 in the sub-microcomputer 31 is performed, the diagnosis by the comparison unit 24 in the main microcomputer 21 is not performed.
[0026]
In step S15, a 1 kHz d-axis current Idm = −110 [A] and a 1 kHz q-axis current Iqm = 0 [A] are output. As described above, only the d-axis current is allowed to flow even at the time of the torque comparison function diagnosis by the conventional control device, but the current also flows to the q-axis due to the estimation error of the magnetic pole position of the motor 4. It was. When diagnosing the torque comparison function in the vehicle motor control device according to the present invention, the maximum drive frequency of the motor 4 Greater than A high frequency current of 1 kHz is output to the motor 4. Thereby, even when a current flows through the q-axis, the motor 4 does not operate. Therefore, the vehicle behavior is not affected. In this embodiment, the frequency is 1 kHz and Idm = −110 [A], but the present invention is not limited to this value, and is appropriately determined depending on the use of an electric vehicle or a hybrid vehicle.
[0027]
Here, the control performed by the sub-microcomputer 31 starting from step S101 will be described with reference to FIGS. Of the various processes performed by the sub-microcomputer 31, the same processes as those of the main microcomputer 21 will not be described. In step S101, it is determined whether the activation of the sub-microcomputer 31 has been completed. This determination is performed based on the same conditions as the determination in step S1 performed by the main microcomputer 21. The next steps S102 to S105 are also the same as steps S6 to S9 performed by the main microcomputer 21.
[0028]
In step S106, it is determined whether the signal for ending the torque function diagnosis control transmitted from the main microcomputer 21 in step S12 has been received. If it determines with having received, it will progress to step S150. If it is determined that it has not been received, the process proceeds to step S107. In step S107, it is confirmed that the CHK1 signal transmitted by the main microcomputer 21 in step S13 is received, and the process proceeds to step S108. In step S108, the comparison unit 34 in the sub-microcomputer 31 is shifted to the diagnosis mode, and the process proceeds to step S109.
[0029]
In step S109, the motor currents Iu, Iv, Iw detected by the respective current detectors 5 are detected, and the coordinate conversion unit 33 converts them into the d-axis current feedback value Idm and the q-axis current feedback value Iqm (3 phase / 2 phase conversion). In the next step S110, the currents Idm and Iqm after coordinate conversion are input to the comparison unit 34, and the process proceeds to step S111. In step S111, as described above, motor control command value Ids * and current feedback value Ids, and Iqs * and Iqs are respectively compared, and an abnormality diagnosis is performed. That is, when the relationship of the following expression (2) or (3) is satisfied, it is determined that there is an abnormality, and the FCFAIL signal is output to the main microcomputer 21. The FCFAIL signal is a signal indicating a control abnormality of the sub-microcomputer 31.
| Ids * -Ids |> | ΔId2 | (2)
| Iqs * −Iqs |> | ΔIq2 | (3)
[0030]
In step S16, the main microcomputer 21 determines whether or not an RLYCUT signal based on the FCFAIL signal has been generated. As shown in FIG. 3, the main microcomputer 21 receives the FCFAIL signal from the sub-microcomputer 31 and the RLYCUT signal from the OR circuit 41. If it is determined that the RLYCUT signal is not generated, the process proceeds to step S17, where it is determined that there is an abnormality. If it is determined that the RLYCUT signal is generated, the process proceeds to step S18. In step S18, the signal CHK1 for starting diagnosis of the comparison unit 34 in the sub-microcomputer 31 is output to the sub-microcomputer 31 again, and the process proceeds to step S19.
[0031]
In step S112, the sub-microcomputer 31 confirms that the CHK1 signal output from the main microcomputer 21 in step S18 has been received, and proceeds to step S113. In step S113, it is determined whether an RLYCUT signal based on the FCFAIL signal is generated. As shown in FIG. 3, the MCFAIL signal is input from the main microcomputer 21 to the sub-microcomputer 31, and the RLYCUT signal is input from the OR circuit 41. If it is determined that the RLYCUT signal is not generated, the process proceeds to step S114, and it is determined that there is an abnormality. If it is determined that the RLYCUT signal is generated, the process proceeds to step S115. In step S115, the FCFAIL signal is cleared and the process proceeds to step S116. The sub-microcomputer 31 transmits a signal indicating that the FCFAIL signal has been cleared to the main microcomputer 21.
[0032]
After receiving the signal that the FCFAIL signal is cleared, the main microcomputer 21 outputs the d-axis current Idm and the q-axis current Iqm in step S19. The output value at this time is 0 [A] for both Idm and Iqm. In the next step S20, it is determined whether or not the RLYCUT signal is cleared. If it is determined that it has not been cleared, the process proceeds to step S21, where it is determined that there is an abnormality. If it is determined that it has been cleared, the process proceeds to step S22.
[0033]
In the control performed by the main microcomputer 21, the control performed from step S22 to step S30 is the same as the control from step S13 to step 21, and therefore description thereof is omitted. However, the current values Idm and Iqm output in step S24 are 1 kHz Idm = 0 [A] and 1 kHz Iqm = −110 [A], respectively. In the vehicle motor control device according to the present invention, the maximum drive frequency of the motor 4 is Greater than Since abnormality diagnosis is performed using high-frequency current, diagnosis is performed by supplying current not only to the d-axis but also to the q-axis. That is, even if an abnormality is diagnosed by passing a current through the q axis, the influence of the vehicle behavior does not occur. Further, in the control performed by the sub-microcomputer 31, the control performed from step S116 to step S123 is the same as the control performed from step 107 to step S115, and therefore description thereof is omitted. The sub-microcomputer 31 performs a torque comparison function diagnosis based on the current values Idm and Iqm output in step S24.
[0034]
If the main microcomputer 21 determines that the RLYCUT signal has been cleared in step S29, the process proceeds to step S31. In step S31, the CHK1 signal is output to the sub-microcomputer 31, and the process proceeds to step S32. In step S124, the sub-microcomputer 31 confirms that the CHK1 signal output from the main microcomputer 21 has been received, and proceeds to step S125. In step S125, it is determined whether the RLYCUT signal based on the CHK1 signal is cleared. If it is determined that it has not been cleared, the process proceeds to step S126, where it is determined that there is an abnormality. If it is determined that it has been cleared, the process proceeds to step S127. In step S127, the diagnosis start signal CHK2 for the comparison unit 24 in the main microcomputer 21 is output to the main microcomputer 21, and the process proceeds to step S128.
[0035]
In step S32, the main microcomputer 21 confirms that the CHK2 signal output from the sub microcomputer 31 has been received, and proceeds to step S33. In step S33, it is determined whether or not the RLYCUT signal is cleared. If it is determined that it has not been cleared, the process proceeds to step S34, where it is determined that there is an abnormality. If it is determined that it has been cleared, the process proceeds to step S35. In step S35, the abnormality signal MCFAIL indicating the control abnormality of the main microcomputer 21 is cleared, and the process proceeds to step S36. In step S36, the CHK1 signal is output to the sub-microcomputer 31, and the process proceeds to step S37.
[0036]
In step S128, the sub-microcomputer 31 confirms that the CHK1 signal has been received, and proceeds to step S129. In step S129, internal output of d-axis current Ids * = 150 [A] and q-axis current Iqs * = 0 [A] is performed. The current command values Ids * and Iqs * here are used for diagnosis by the comparison unit 24 in the main microcomputer 21, and it is not necessary to use a high-frequency current. In the next step S130, control for masking diagnosis by the comparison unit 34 in the sub-microcomputer 31 is performed. That is, while the diagnosis is performed by the comparison unit 24 in the main microcomputer 21, the diagnosis by the comparison unit 34 in the sub-microcomputer 31 is not performed.
[0037]
In step S37, the main microcomputer 21 detects the current command values Ids * and Iqs * of the sub-microcomputer 31, and proceeds to step S38. In step S38, as described above, control abnormality diagnosis is performed by comparing Idm * and Ids *, and Iqm * and Iqs *, respectively. That is, when the relationship of the following expression (4) or (5) is satisfied, it is determined that the abnormality is present.
| Idm * −Ids * |> | ΔId1 | (4)
| Iqm * -Iqs * |> | ΔIq1 | (5)
In the next step S39, the MCFAIL signal is output to the sub-microcomputer 31 based on the result of the control abnormality diagnosis performed in step S38.
[0038]
The sub-microcomputer 31 determines whether or not an RLYCUT signal is generated in step S131. If it is determined that no occurrence has occurred, the process advances to step S132 to determine that there is an abnormality. If it is determined that the RLYCUT signal is generated, the process proceeds to step S133. In step S133, the CHK2 signal is output to the main microcomputer 21, and the process proceeds to step S134.
[0039]
In step 40, the main microcomputer 21 confirms that the CHK2 signal output from the sub-microcomputer 31 has been received, and proceeds to step S41. In step S41, it is determined whether an RLYCUT signal is generated. If it is determined that no occurrence has occurred, the process proceeds to step S42, where it is determined that there is an abnormality. If it is determined that the RLYCUT signal is generated, the process proceeds to step S43. In step S43, the MCFAIL signal is cleared and the process proceeds to step S44.
[0040]
In step S134, the sub-microcomputer 31 clears the RLYCUT signal and proceeds to step S135. In step S135, the d-axis current Ids * = 0 and the q-axis current Iqs * = 0 are internally output, and the process proceeds to step S136. In step S136, it is determined whether the RLYCUT signal is cleared. If it is determined that it has not been cleared, the process proceeds to step S137, and it is determined that there is an abnormality. If it is determined that it has been cleared, the process proceeds to step S138. In step S138, the CHK2 signal is output to the main microcomputer 21, and the process proceeds to step S139.
[0041]
The main microcomputer 21 confirms that the CHK2 signal has been received in step S44, and proceeds to step S45. Since the control from step S45 to step S52 is the same as the control from step S37 to step S44, description thereof will be omitted. Further, among the processes performed by the sub-microcomputer 31, the processes performed from step S139 to step S148 are the same as the processes performed from step 129 to step S138, and therefore description thereof will be omitted. However, the current values Ids * and Iqs * output in step S139 are Ids * = 0 [A] and Iqs * = 150 [A], respectively. That is, based on the current command values Ids * and Iqs * output in step S139, the comparison unit 24 in the main microcomputer 21 performs a torque comparison function diagnosis.
[0042]
When the main microcomputer 21 receives the CHK2 signal in step S52, the main microcomputer 21 proceeds to step S53. In step S53, the RLYCUT signal is cleared and the process proceeds to step S54. In step S54, the CHK1 signal is output and the process proceeds to step S55. In step S55, vector calculation for controlling the inverter 1 is started.
[0043]
In step S149, the sub-microcomputer 31 confirms that the CHK2 signal output from the main microcomputer 21 has been received, and proceeds to step S150. In step S150, vector calculation for controlling the inverter 1 is started and this control is finished.
[0044]
According to the vehicle motor control device of the present invention, when performing torque comparison function diagnosis from the current command value and the actual current value, the maximum drive frequency for driving the motor 4 as the pseudo current command value for diagnosis. Greater than By using the high frequency current, the influence of the vehicle behavior can be suppressed without the motor 4 operating. Thus, in the conventional control device, the torque comparison function diagnosis cannot be performed unless the vehicle is completely stopped. However, in the control device for the electric vehicle and the hybrid vehicle according to the present invention, the motor 4 has a predetermined rotational speed. Diagnosis can be performed even when the vehicle is traveling as follows. Furthermore, the diagnosis can be made more accurately by checking the time constant before and after the torque comparison function diagnosis.
[0045]
The present invention is not limited to the embodiment described above. For example, the present invention can be applied to all things driven using a motor other than an electric vehicle and a hybrid vehicle. That is, motor drive frequency Greater than By using the high frequency current, the torque comparison function diagnosis can be performed without driving the motor.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a vehicle motor control device according to the present invention.
FIG. 2 is a diagram showing a configuration of a motor controller of a vehicle motor control device according to the present invention.
FIG. 3 is a diagram showing the signal flow of the main microcomputer and sub-microcomputer in the motor controller.
FIG. 4 is a flowchart showing a control procedure by the vehicle motor control device according to the present invention.
FIG. 5 is a flowchart showing a control procedure performed by the vehicle motor control device according to the present invention, following FIG. 4;
FIG. 6 is a flowchart illustrating a control procedure performed by the vehicle motor control device according to the present invention, following FIG. 5;
FIG. 7 is a flowchart showing a control procedure performed by the vehicle motor control device according to the present invention, following FIG. 6;
FIG. 8 is a flowchart showing a control procedure performed by the vehicle motor control device according to the present invention, following FIG. 7;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Inverter, 2 ... Torque processing controller (TP / C), 3 ... Motor controller (M / C), 4 ... Motor for drive, 5 ... Current detector, 6 ... Encoder, 7 ... Switch, 8 ... Battery, DESCRIPTION OF SYMBOLS 21 ... Main microcomputer, 22 Motor control calculating part, 23 ... Coordinate conversion part, 24 ... Comparison part, 25 ... Current control part, 26 ... Control mode switching part, 27 ... Gain setting part, 31 ... Sub microcomputer, 32 ... Motor Control arithmetic unit 33 ... Coordinate conversion unit 34 ... Comparison unit 41 ... OR circuit

Claims (7)

A power converter for converting DC power to AC power and supplying the motor,
A first computing device for computing a first motor control command for controlling power applied from the power converter to the motor;
A second computing device for computing a pseudo second motor control command with respect to the first motor control command;
Comparing and stopping the first and second motor control commands calculated by the first and second arithmetic units, respectively, and stopping the supply of power to the motor when the result of the comparative calculation indicates an abnormality Equipment,
A diagnostic device for diagnosing whether or not the comparison operation is normally performed by supplying diagnostic first and second motor control commands having a frequency larger than the maximum drive frequency of the motor to the comparison stop device; A vehicle motor control device characterized by the above. The vehicle motor control device according to claim 1,
The motor is a three-phase AC synchronous motor driven by power from a vector-controlled power converter,
The first arithmetic unit calculates a d-axis current, a q-axis current, and a motor electrical angle based on a torque command value determined by operating conditions and an actual rotation angle of the motor,
The second computing device computes a d-axis current, a q-axis current, and a motor electrical angle based on the torque command value and the motor electrical angle computed by the first computing device. Vehicle motor control device. The vehicle motor control device according to claim 2,
The diagnostic apparatus performs the diagnosis by setting the q-axis current to zero and giving a predetermined value to the d-axis current. The vehicle motor control device according to claim 2,
The diagnostic apparatus performs the diagnosis by setting the d-axis current to zero and giving a predetermined value to the q-axis current. In the vehicle motor control device according to any one of claims 2 to 4,
The comparison stop device includes a d-axis current calculated by the first calculation device, a d-axis current calculated by the second calculation device, a q-axis current calculated by the first calculation device, and the first The q-axis current computed by the computing device 2 and the motor electrical angle computed by the first computing device and the motor electrical angle computed by the second computing device, respectively.
A vehicle motor control device characterized in that when the comparison result indicates an abnormal value, the supply of electric power to the motor is stopped. In the vehicle motor control device according to any one of claims 1 to 5,
The diagnostic device detects a time constant used for diagnosing whether or not the comparison operation is normally performed before diagnosis, and performs the diagnosis when it is confirmed that the value of the detected time constant is normal A vehicle motor control device characterized by the above. In a diagnostic method for a vehicle motor control device that converts DC power into AC power and applies the motor to a motor,
Calculating a first motor control command for controlling electric power applied to the motor;
Calculating a pseudo second motor control command with respect to the first motor control command;
Comparing and calculating the first and second motor control commands, and stopping the power supply to the motor when the comparison calculation result indicates an abnormality,
Diagnosis of whether or not the comparison operation is normally performed based on first and second motor control commands for diagnosis having a frequency greater than the maximum drive frequency of the motor. Method.

Images