CN105450139B - 电动机驱动装置 - Google Patents
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- 239000003990 capacitor Substances 0.000 claims abstract description 67
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- 238000012544 monitoring process Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/026—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a power fluctuation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/527—Voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/80—Time limits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
- Power Steering Mechanism (AREA)
Abstract
本发明提供一种电动机驱动装置,可抑制电动机快速的驱动停止或电动机控制的发散,且可以提高安全性。该电动机驱动装置对驱动电动机(M)的逆变器(1)的电源平滑用电容器(2)进行预充电,且基于从预充电开始到经过规定时间后的电源电压(VB)与对所述电容器充电的电压的比、或对所述电容器充电的电压到达与电源电压对应的电压的时间,算出所述电容器的容量值,在所述电容器的容量值降低的情况下,进行所述电动机的扭矩限制。通过在控制性由于电容器的容量降低而恶化之前进行检测,并进行电动机的扭矩限制,能够抑制快速的驱动停止、电动机控制的发散,能够提高安全性。
Description
技术领域
本发明涉及利用电动机对例如方向盘的转向提供助力的电动助力转向(EPS:Electric Power Steering)***所使用的电动机驱动装置。
背景技术
近年来,对机动车的性能安全的关注日益增高,在一般社团法人JASPAR(JapanAutomotive Software Platform and Architecture:日本汽车软件平台构架)及欧洲等,对EPS的急剧的助力控制停止的安全性进行着研讨。作为急剧的助力控制停止的主要原因之一,认为是逆变器的电源平滑用电容器的容量降低导致电压变动的影响。
在EPS***中,在当前的故障安全(F/S)中,通过利用电流监视进行异常检测来进行助力停止成为主流(例如,参照专利文献1)。
专利文献1:(日本)特开2004-122943号公报
但是,电容器的容量降低由经时劣化或温度变化等所引起。在电容器的容量降低的情况下,在利用电流监视进行异常检测时,由于难以在助力量较小的状态下进行检测,因此,在助力量增大后再进行检测。这样,在助力量较大的状态下,若在车辆行驶中手动转向(助力停止),则操作人员可能在转向时感到不适,或转向突然加重。
另外,在EPS***中,为了谋求小型化,有时采用混合电容器(Hybrid-Condensor)而不采用电解电容器。混合电容器具有等效串联电阻(ESR:Equivalent SeriesResistance)较小、对纹波电流的耐量较大、即使是低容量也可以进行瞬间的电流评价的优点。但是,由于为低容量,因此,具有如下课题,即,受容量降低的影响增大,逆变器的放大器部的电压大幅变动,且电动机控制发散而产生转向振动。
发明内容
本发明鉴于如上所述情况而作出,其目的在于,提供一种电动机驱动装置,抑制快速的驱动停止、电动机控制的发散,且能够提高安全性。
本发明的电动机驱动装置对驱动电动机的逆变器的电源平滑用电容器进行预充电,且基于从预充电开始经过规定时间后的电源电压与对所述电容器充电的电压的比、或基于对所述电容器充电的电压到达与电源电压对应的电压的时间,算出所述电容器的容量值,在所述电容器的容量值降低的情况下,进行所述电动机的扭矩限制。
发明效果
根据本发明,在电容器的容量值降低的情况下,通过进行电动机的扭矩限制,能够抑制快速的驱动停止、电动机控制的发散,能够提高安全性。
附图说明
图1是表示本发明实施方式的电动机驱动装置的示意结构的电路图;
图2是表示图1所示的电路动作的流程图;
图3是表示对图1所示的电路中的电容器容量降低的情况和未降低的情况下的预充电时间与监视电压的关系进行比较的特性图;
图4是表示在图1所示的电路中,由于电容器容量不同而导致的预充电时间与预充电供给电压的关系的特性图;
图5是表示在图1所示的电路中,电容器容量降低的情况和未降低的情况下的与预充电供给电压的差的电压的特性图;
图6是表示将本发明实施方式的电动机驱动装置应用于EPS***的情况下的助力扭矩与扭矩变动量的关系的波形图。
标记说明
1 逆变器
2 电容器(电源平滑用电容器)
3 开关(第一开关)
4 电源(直流电源)
5 预充电电路
6 开关(第二开关)
7 寄存器(电阻器)
8 CPU
9 调节器
10、11 电压监视电路
M 电动机(助力电动机)
VB 电源电压
VC、VC0、VC1 端子电压
具体实施方式
以下,参照附图对本发明的实施方式进行说明。
图1表示本发明实施方式的电动机驱动装置的示意结构,在此,提取EPS***中的助力电动机M和该电动机M的驱动电路进行表示。
电池等电源(直流电源)4的正极经由故障安全用的第一开关(故障安全继电器)3与三相驱动电动机M的逆变器1连接。
电源平滑用电容器2连接于逆变器1的电源端子和接地点之间,并利用第一开关3与电源4分离。在电源4的正极与电容器2的一电极之间连接有预充电电路5。预充电电路5具备预充电用的第二开关6和负荷用的寄存器(电阻器)7,在开关6接通时,利用电源4经由寄存器7对电容器2进行预充电。
从电源4经由调节器9向作为主控制装置的CPU8供给电源。向CPU8中输入由电压监视电路10、11检测的电源电压VB和电容器2的端子电压VC,并监视这些电压。而且,利用该CPU8控制第一、第二开关3、6,并且控制逆变器1,驱动电动机M。
在如上所述的结构中,如图2的流程图所示,在通常的电动机M控制之前,进行用于检测电容器2的容量值是否降低的初始判断(最初检查)。在初始判断中,首先,将故障安全用的第一开关3和预充电用的第二开关6设为切断状态(步骤S1)。该状态下,利用电压监视电路11检测电容器2的端子电压VC0,判定是否比规定的电压值α小(步骤S2)。如果端子电压VC0比电压值α小,则接通第二开关6(步骤S3)。
另一方面,步骤S2中,在判定电压VC0比规定的电压值α大或相等的情况下,对电容器2的电压进行放电,并判定放电后的电容器2的端子电压VC是否比规定的电压值α小(步骤S4)。而且,若判定为小,则返回步骤S2,若判定为大或相等,则判定为开关3异常(步骤S5)。
若在步骤S3中接通第二开关6,则利用预充电电路5,以电源电压VB对电容器2进行充电,电压监视电路11的监视电压上升。在接通第二开关6后,进行计数,直到经过规定时间t的时间(步骤S6),并利用电压监视电路11检测确认该时刻的电容器2的端子电压VC1(步骤S7)。接着,根据电源电压VB、端子电压VC0及端子电压VC1,算出电容器2的容量C(步骤S8)。然后,判定电容器2的算出的容量C是否处于规定值β和γ之间(β<C<γ)(步骤S9),如果在范围内,则开始通常控制(步骤S10)。
在步骤S9中判定为算出的容量C不在规定值β和γ之间的情况下,基于该容量C进行电动机的扭矩限制(步骤S11)。该限制值根据本电动机驱动装置所适用的***不同而各异,且限制值也可以变化。
然后,判定例如点火开关是否切断且电动机驱动是否结束(步骤S12),并重复进行步骤S9~S11的动作直到判定为驱动结束。
图3表示对图1所示的电动机驱动装置中的电容器2的容量降低的情况和未降低的情况下的预充电时间与监视电压的关系进行比较。由电压监视电路10检测的电源电压VB成为大致一定的值。与之相对,由电压监视电路11检测的电容器2的端子电压的变化率根据电容器2的容量不同而不同。从利用预充电电路5开始预充电,到到达规定的电压VA的时间随着电容器2的容量降低而减少。
即,在电容器2的容量未降低的情况下,如实线所示,到达电压VA,需要时间T1,与之相对,若容量降低,则如虚线所示,到达电压VA的时间缩短至时间T2。而且,根据实线和虚线可知,若开始预充电,则电压的差逐渐变大,之后从某个位置逐渐缩小,最终接近电源电压VB。因此,通过测定到达该规定的电压VA的时间T1、T2,能够算出电容器2的容量值。
电容器容量降低的检测,通过计算在切断故障安全继电器(开关)3时,相对于由预充电电路5进行的对电容器2充电的充电时间的供给侧电压(电源电压VB)和对逆变器1供给的供给电压的比例(时间常数)而进行。而且,根据充电的时间常数推定电容器2的容量C。
换而言之,对逆变器1的电源平滑用电容器2进行预充电,且基于经过规定时间t后的电源电压VB与对电容器2充电的电压VC1-VC0的比、或者电容器2的充电电压VC1-VC0到达与电源电压VB对应的电压的时间,算出电容器2的容量值C。而且,在检测到电容器2的容量值C降低的情况下,进行电动机M的扭矩限制。
接着,根据图4及图5更详细地说明电容器2的容量值的算出。如图4所示,电容器容量从100%降低至50%,即成为1/2的情况下的预充电电压的变化能够根据下式(1)、(2)算出。
在此,如果电容器容量相同,利用即使预充电供给电压(电源电压VB)变化,某一定时间后的电压比例(比率)也不发生变化来算出电容器容量的改变。
下式(1)、(2)中,VC100为电容器容量没有降低的情况(100%),VC50为电容器容量降低至50%的情况,VB为电池电压,R为寄存器7的电阻值,C为电容器2的容量,t为预充电时间。
式1
式2
此外,上式(2)中的“2/RC”的分子的“2”为容量成为1/2的情况,根据要检测的电容器容量,在例如容量成为1/a的情况下,变更为“a”。
假定电容器容量降低至50%,则如下式(3)所示,根据上式(2)-(1)能够算出检测性最高的最佳时刻。如图5所示,通过在电容器2的端子电压的差最大的时刻ΔT进行检测,检测性增高。
式3
图6表示将本发明实施方式的电动机驱动装置应用于EPS***情况下的助力扭矩(电动机扭矩)和扭矩变动量的关系。随着助力扭矩的增加,纹波(扭矩变动量)逐渐增大,且当助力扭矩到达规定值时(以前,在该时刻助力停止),电动机控制发散而产生转向振动。在此,在本实施方式中,通过在助力扭矩到达规定值之前进行扭矩限制,来抑制助力停止。此时,不是像以往那样单纯地停止助力,而是通过以助力到比成为助力停止的电平低的电平,且不超过上述规定值的方式降低扭矩进行助力,而能够继续减弱助力。
如上所述,本发明中,为了避免行驶中的手动转向(助力停止),不在动作中(行驶中),而通过助力开始前的初始判断检测电容器的容量降低。另外,在实施预充电时,测定某一定时间后的电压值或者测定上升至某电压的时间,并基于这些数据算出电容器的容量值。
另外,通过监视预充电供给侧电压(逆变器部电压)及电容器侧电压,并利用与电容器的容量值的关联性算出时间常数(比例),来判断电容器容量的变化。
由此,在电动机控制性恶化之前能够检测电源平滑用电容器2的容量降低。而且,在电容器2的容量值降低的情况下,不是单纯地停止电动机M的助力,而是通过在直到停止之前进行助力电动机M的扭矩限制,能够抑制电动机控制发散,能够提高安全性。
此外,在上述的实施方式中,举例说明了EPS***中的助力电动机的驱动装置,但本发明当然可适用于由于快速的驱动停止而在安全性方面上可能产生问题的通常的电动机驱动装置。
另外,电动机驱动装置的电路结构不限定于图1所示的电路,可以在不脱离要旨的范围内进行各种变形实施。
还举例说明了在电容器2的端子电压的差最大的时刻ΔT进行检测的情况,但即使是稍微偏离最大值的时刻,也可以充分检测。
Claims (5)
1.一种电动机驱动装置,其用于通过电动机为对方向盘转向提供助力的电动助力转向***,所述电动机驱动装置的特征在于,
具有使对驱动电动机的逆变器的电源平滑化的电容器,
基于所述电容器的容量降低了的情况下的预充电电压和所述电容器正常时的预充电电压,测定两者的电压差最大的预充电时间,或者,对从预充电开始后到达规定的电压值前的时间差最大时的所述电容器的端子电压进行测定,
在助力开始前供给电源并开始所述电容器的预充电时,
基于从预充电开始经过所述预充电时间后的电源电压与对所述电容器充电的电压的比,或基于对所述电容器充电的电压到达所述规定的电压值的时间,来算出所述电容器的容量值,
在所述电容器的容量值降低的情况下,进行转向助力中的所述电动机的扭矩限制。
2.如权利要求1所述的电动机驱动装置,其特征在于,
所述电容器的容量值的算出通过初始判断进行。
3.如权利要求1或2所述的电动机驱动装置,其特征在于,
所述电容器利用故障安全用的第一开关与所述电源分离,所述电容器的预充电在切断所述第一开关的状态下进行。
4.如权利要求3所述的电动机驱动装置,其特征在于,
所述电容器的预充电在切断所述第一开关的状态下,接通预充电用的第二开关,而从所述电源经由所述第二开关和寄存器进行。
5.如权利要求1或2所述的电动机驱动装置,其特征在于,
在所述电动机的助力扭矩到达规定值之前,对方向盘的转向提供助力,且在所述电动机的助力扭矩到达规定值时进行扭矩限制,而将助力扭矩降低至规定值以下并继续助力。
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