CN111491821B - Drive control device for motor-equipped vehicle - Google Patents

Drive control device for motor-equipped vehicle Download PDF

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Publication number
CN111491821B
CN111491821B CN201880081472.0A CN201880081472A CN111491821B CN 111491821 B CN111491821 B CN 111491821B CN 201880081472 A CN201880081472 A CN 201880081472A CN 111491821 B CN111491821 B CN 111491821B
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China
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temperature
value
temperature detection
coolant
switching element
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CN201880081472.0A
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Chinese (zh)
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CN111491821A (en
Inventor
神田刚志
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NTN Corp
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NTN Corp
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Priority claimed from JP2017241940A external-priority patent/JP7095984B2/en
Priority claimed from JP2017242490A external-priority patent/JP7021927B2/en
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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
    • 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
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/16—Electric propulsion with power supply external to the vehicle using ac induction motors
    • B60L9/18—Electric propulsion with power supply external to the vehicle using ac induction motors fed from dc supply lines
    • 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
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Multiple Motors (AREA)
  • Inverter Devices (AREA)

Abstract

Provided is a drive control device for an automobile equipped with a motor, which can detect the temperature of a switching element of an inverter with good accuracy. The drive control device (16) for a motor-equipped vehicle comprises: 1 st and 2 nd temperature detection units (29, 29), wherein the 1 st and 2 nd temperature detection units (29, 29) are provided on any one of a plurality of switching elements (33) of an inverter (25 a) driving one of the motors (6) and any one of a plurality of switching elements (33) of an inverter (25 a) driving the other motor (6), and detect the temperature of the corresponding switching element (33), respectively; and a temperature detection abnormality determination unit (30), wherein the temperature detection abnormality determination unit (30) compares the temperatures detected by the temperature detection units (29, 29) with each other to determine whether or not an abnormality has occurred in each of the temperature detection units (29). A temperature detection abnormality determination unit (30) determines which temperature detection unit (29) is abnormal when the difference in temperature detected by the 1 st and 2 nd temperature detection units (29, 29) is not within a predetermined normal range when the motors (6) are not energized.

Description

Drive control device for motor-equipped vehicle
RELATED APPLICATIONS
The application requires that the application date is 2017, 12, 18 and JP patent application No. 2017-241940; the priority of the application of application No. JP patent application No. 2017-242490, 12-2017, is incorporated by reference in its entirety as if made part of the present application.
Technical Field
The present invention relates to a drive control device for an automobile equipped with a motor, and relates to a technique capable of detecting a temperature of a switching element of an inverter with good accuracy.
Background
A cooling device for cooling a motor and an inverter is provided in an Electric Vehicle (EV), a hybrid vehicle (HED), or the like, in which a driving motor is mounted. In the cooling device, the fan may be rotated or the flow rate of the cooling water may be changed by the temperature of the cooling water.
In addition, when the temperature of the switching element inside is monitored by the inverter and the upper limit temperature is reached, abnormality of the switching element is prevented by performing torque limitation, current limitation, or stopping driving. However, when the detected temperature of the switching element is shifted to a side higher than the actual temperature, the temperature for current limitation is immediately reached, and torque limitation is excessively performed. In contrast, when the detected temperature of the switching element is shifted to a side smaller than the actual temperature, the current limitation may not be performed even when the temperature is a temperature to which the current limitation should be applied, and the switching element may be abnormal. Thus, it is important that each temperature sensor functions normally.
Prior art literature
Patent literature
Patent document 1: JP patent No. 57770649
Patent document 2: JP patent No. 3409756
Patent document 3: JP patent publication 2017-100482
Patent document 4: JP 2009-284597A
Disclosure of Invention
Problems to be solved by the invention
In the abnormality detection of the temperature sensor, in the case of a simple method, when the temperature detection value is out of the normal temperature range, an abnormality is determined in the case of occurrence of an open circuit or short circuit failure of the circuit or wiring. For example, when the temperature detection value is equal to or lower than-50 ℃ or equal to or higher than 200 ℃, the abnormality of the temperature sensor is determined.
However, in such a detection method, detection of some kind of abnormality cannot be performed. As such an abnormality, for example, even in a case where the temperature detection value is within a normal temperature range, the temperature detection value is a fixed value, or even in a case where the temperature detection value is within a normal temperature range, the temperature detection value is deviated from an actual temperature.
Patent document 1 proposes a method of determining abnormality when the current accumulation value and the temperature change amount are located in an abnormal region, respectively, as coordinate axes. Patent document 2 proposes to confirm whether or not the detected temperature changes at a temperature equal to or higher than a predetermined value when the temperature estimated from the current accumulation value changes at a level equal to or higher than the predetermined value. However, in these methods, the amount of temperature change can be checked, but the temperature before the temperature change cannot be recognized as correct, and therefore the detected temperature may deviate from the actual temperature.
Further, patent document 3 proposes a method in which, in an abnormality determination means of a water temperature sensor, when the absorption time is equal to or longer than a predetermined time, the water temperature sensor is determined to be abnormal when the absolute value of the difference between the measured value of the temperature sensor of the inverter and the measured value of the water temperature sensor is equal to or longer than a predetermined value. Patent document 4 proposes a method in which, in the abnormality detection determination means of the water temperature sensor, a cooling water temperature estimated value is calculated from the IGBT element temperature, and when the difference between the cooling water temperature estimated value and the water temperature detected value is equal to or greater than a predetermined value, it is determined that the water temperature sensor is abnormal. These methods are performed on the premise that the temperature of the Inverter (IGBT) is correct. If the inverter temperature cannot be detected correctly, abnormality of the water temperature sensor cannot be judged correctly.
In these methods, too, if the detected temperature of the switching element shifts to a side higher than the actual temperature, the temperature immediately reaches the temperature at which the current limitation is performed, and the torque limitation may excessively occur. In contrast, when the detected temperature of the switching element is shifted to a side smaller than the actual temperature, the current limitation may not be performed even when the temperature is a temperature to which the current limitation should be applied, and the switching element may be abnormal.
The invention aims to provide a drive control device of an automobile with a motor, which can accurately detect the temperature of a switching element of an inverter.
Means for solving the problems
For easy understanding of the present invention, reference is made to the reference numerals of the embodiments.
The drive control device 16 for a motor-equipped vehicle according to the present invention is mounted on a vehicle capable of independently driving the 1 st and 2 nd motors 6, and the 1 st and 2 nd motors 6, 6 drive the left and right drive wheels 2, respectively, and comprises:
power supply circuit units 25, the power supply circuit units 25, 25 including 1 st and 2 nd inverters 25a, the 1 st and 2 nd inverters 25a, 25a converting direct current into alternating current for driving the 1 st and 2 nd motors 6, respectively, the 1 st and 2 nd inverters 25a, 25a converting direct current into alternating current by opening and closing the plurality of switching elements 33, respectively;
a motor control unit 26, wherein the motor control unit 26 controls the 1 st and 2 nd motors 6, 6 via the power supply circuit units 25, 25 according to the supplied command torque;
1 st and 2 nd temperature detection units 29, the 1 st temperature detection units 29, 29 being provided on any one of a plurality of switching elements 33 of the 1 st inverter 25a driving the 1 st motor 6, the 2 nd temperature detection unit 29 being provided on any one of a plurality of switching elements 33 of the 2 nd inverter 25a driving the 2 nd motor 6, the 1 st and 2 nd temperature detection units 29, 29 detecting 1 st and 2 nd temperature detection values T1, T2, respectively, which are temperatures of the corresponding switching elements 33;
and a temperature detection abnormality determination unit 30 that determines whether or not abnormality has occurred in the 1 st and/or 2 nd temperature detection units 29 by mutually comparing temperatures detected by the 1 st and 2 nd temperature detection units 29, and determines that abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units 29 when no electric current is applied to the 1 st and 2 nd motors 6 of the motor control unit 26 and when a difference in temperature detected by the 1 st and 2 nd temperature detection units 29, 29 is not within a predetermined normal range.
The above-described determined normal range refers to a range arbitrarily determined by means of design or the like, for example, by means of finding a suitable range by means of experiments and/or simulations.
According to this embodiment, the temperature detection abnormality determination unit 30 compares the temperatures of the two switching elements 33 and 33 with each other when the 1 st and 2 nd motors 6 and 6 are not energized. When the motor-equipped vehicle is stopped during the non-energized state, the water temperature or the like for cooling the switching element, the radiator, the inverter, etc. does not rise, and therefore, if the 1 st and 2 nd inverters 25a, 25a are not abnormal, they are at substantially the same temperature. Thus, the temperature detection abnormality determination unit 30 can determine whether or not the detected temperature before the temperature change is correct by comparing the temperatures of the two switching elements 33, 33 only when the power is not applied. This makes it possible to determine with good accuracy whether or not abnormality has occurred in each temperature detecting unit 29.
The temperature detection abnormality determination unit 30 may perform the following abnormality determination: when the 1 st and 2 nd motors 6 are not energized after a predetermined time has elapsed after the command torque is zero, performing abnormality determination; or when the command torque is zero and the temperature detected by the 1 st and 2 nd temperature detecting units 29 and 29 is lowered to a degree smaller than the determined degree, the abnormality determination is performed when the 1 st and 2 nd motors 6 are not energized.
The degree of the decrease refers to a temperature decreased per unit time.
The predetermined time and the predetermined degree of drop are arbitrarily determined by means of design or the like, and are determined by, for example, obtaining an appropriate time by means of a test and/or simulation or the like.
According to this embodiment, the temperature rise amount caused by the current flowing before the current is supplied even when the current is not supplied is considered. The temperature detection abnormality determination unit 30 is configured to cool the heated radiator or the like by cooling water for a predetermined time after the command torque is zero, and the temperatures of the two switching elements are reduced to a value close to the basic water temperature. In this case, since the degree of temperature decrease decreases with the approach of the relative cooling water temperature, it is estimated that the temperature of the two switching elements is a value close to the water temperature due to the small degree of temperature decrease.
The temperature detection abnormality determination unit 30 may decrease the determined normal range with the lapse of time after the command torque is zero. By changing the normal range thus determined, the timing of determining abnormality of the temperature detecting portion 29 can be speeded up. That is, even when the non-energization time is short, abnormality of the temperature detecting portion 29 can be judged.
In addition, it may further include:
a cooling mechanism Rk that cools the 1 st and 2 nd inverters 25a, 25a by a coolant;
the cooling mechanism Rk includes:
the 1 st and 2 nd cooling paths 18, the 1 st and 2 nd cooling paths 18, 18 flowing the coolant to the 1 st and 2 nd inverters 25a, respectively, the 1 st and 2 nd cooling paths 18, 18 being connected in series;
a pump 22, the pump 22 circulating the coolant through a circulation line 19 connected to the 1 st and 2 nd cooling paths 18, 18;
a radiator 23, the radiator 23 cooling the coolant;
the temperature detection abnormality determination unit 30 includes:
a coolant temperature rise estimation unit 30a, wherein the coolant temperature rise estimation unit 30a is configured to calculate the coolant temperature rise based on the 1 st inverter 25a located upstream of the circulation line 19 with respect to the radiator 23 when the 1 st and 2 nd motors 6, 6 to which the motor control unit 26 is supplied with the command torque are energized 1 A command value or a detection value of the current to be supplied, and a temperature increase value of the coolant of the 1 st inverter is estimated as a1 st coolant temperature increase estimated value Tw1 u;
a switching element temperature rise estimation unit 30b, wherein the switching element temperature rise estimation unit 30b calculates the switching element temperature rise of the 1 st and 2 nd inverters 25a1, 25 a2, and the temperature rise value of the switching element 33 is estimated as the 1 st and 2 nd switching element temperature rise estimated values T1u, T2u, respectively, and the switching element 33 is the 1 st inverter 25a, respectively 1 The switch element 33 of the 1 st temperature detecting unit 29; the 2 nd inverter 25a located downstream of the circulation line 19 with respect to the radiator 23 2 The switching element 33 of the 2 nd temperature detecting unit 29;
the temperature detection abnormality determination unit 30 determines that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units 29 when a difference obtained by subtracting the 1 st estimated switching element temperature rise value T1u from the 1 st temperature detection value T1 is different from a value obtained by subtracting the 2 nd estimated switching element temperature rise value T2u from the 2 nd temperature detection value T2, and the 1 st estimated coolant temperature rise value Tw1u is subtracted from the 1 st estimated coolant temperature rise value T2.
According to this embodiment, when the 1 st and 2 nd cooling circuits 18, 18 are connected in series, the 1 st inverter 25a on the upstream side is passed 1 The amount of coolant temperature rise at this time appears as a difference in switching element temperatures of the 1 st and 2 nd inverters 25a1, 25a 2. When the torques of the 1 st and 2 nd motors 6, 6 are different, the temperature rise of the switching elements 33, 33 of the 1 st and 2 nd inverters 25a1, 25a2 is not only the coolant temperature rise value but also the temperature rise of the switching elements of the 1 st and 2 nd inverters 25a1, 25a2 is generated as a difference in the switching element temperatures of the 1 st and 2 nd inverters 25a1, 25a 2. Thus, even when the current is supplied, the abnormality of the temperature detecting portion 29 can be determined by whether or not the difference (i (T1-T2) - (T2-T2 u-Tw1 u)) between the value (T1-T1 u) obtained by subtracting the estimated value T1u of the temperature rise of the switching element from the temperature detection value T1 of the switching element 33 on the upstream side and the value (T2-T2 u-Tw1 u) obtained by subtracting the estimated value T2u of the temperature rise of the switching element from the temperature detection value T2 of the switching element 33 on the downstream side, and then subtracting the estimated value Tw1u of the temperature rise of the coolant from the value.
When the current flowing through the 1 st and 2 nd inverters 25a1, 25a2 is the same, the temperature detection abnormality determination unit 30 may determine that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units 29 when the difference between the 1 st temperature detection value T1 and the value obtained by subtracting the 1 st cooling temperature increase estimated value Tw1u from the 2 nd temperature detection value T2 is not within a predetermined normal range. When the currents for energizing the upstream and downstream inverters 25a1 and 25a2 are the same, the temperature rise values of the upstream and downstream switching elements 33 and 33 are the same, so that it is unnecessary to calculate the temperature rise value of the switching element 33, and the abnormality determination of the temperature detection unit 29 can be simplified.
Further, it may further include a cooling mechanism Rk that cools the 1 st and 2 nd inverters 25a1, 25a2 described above by a cooling liquid;
the cooling mechanism Rk includes:
the 1 st and 2 nd cooling paths 18, the 1 st and 2 nd cooling paths 18, 18 flowing the coolant to the 1 st and 2 nd inverters 25a1, 25a2, respectively, the 1 st and 2 nd cooling paths 18, 18 being connected in parallel;
a pump 22, wherein the pump 22 circulates the cooling liquid in a circulation line 19 connected to the 1 st and 2 nd cooling paths 18;
A radiator 23, the radiator 23 cooling the coolant;
the temperature detection abnormality determination unit 30 includes a switching element temperature rise estimation unit 30b that estimates, when the 1 st and 2 nd motors 6, 6 to which the command torque is supplied from the motor control unit 26 are energized, a temperature rise value that is a temperature rise value of the switching elements 33, 33 provided with the 1 st and 2 nd temperature detection units, respectively, as the 1 st and 2 nd switching element temperature rise estimation values T1u, T2u, based on a command value or a detection value of a current that energizes the 1 st and 2 nd inverters 25a1, 25a 2;
the temperature detection abnormality determination unit 30 determines that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units 29 when a difference between a value obtained by subtracting the 1 st switching element temperature rise estimated value T1u from the 1 st temperature detection value T1 and a value obtained by subtracting the 2 nd switching element temperature rise estimated value T2u from the 2 nd temperature detection value T2 is not within a predetermined normal range.
According to this configuration, when the 1 st and 2 nd cooling paths 18, 18 are connected in parallel, the abnormality determination of the temperature detection units 29, 29 can be performed even when the current is applied by estimating the temperature rise values of the switching elements 33, 33. In addition, in the case of parallel connection, since the upstream-side coolant temperature rise value is not estimated, abnormality determination of the temperature detection unit 29 can be performed more easily than in the case of series connection.
When the currents for energizing the 1 st and 2 nd inverters 25a1, 25a2 are the same, the temperature detection abnormality determination unit 30 may determine that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units 29 when the difference between the 1 st temperature detection value T1 and the 2 nd temperature detection value T2 is not within a predetermined normal range. When the currents for powering the 1 st and 2 nd inverters 25a1, 25a2 are the same, the temperature rise values of the two switching elements 33, 33 are the same, so that it is unnecessary to calculate the temperature rise value of the switching element 33, and the abnormality determination of the temperature detection unit 29 can be simplified.
Further, it may further include a cooling mechanism Rk that cools the 1 st and 2 nd inverters 25a described above by a cooling liquid;
a coolant temperature detection unit 24, wherein the coolant temperature detection unit 24 detects the temperature of the coolant;
the temperature detection abnormality determination unit 30 calculates 3 temperatures, i.e., the 1 st and 2 nd temperature detection values T1 and T2 and the temperature Tw of the coolant detected by the coolant temperature detection unit 24, under the intact or predetermined conditions, and determines that the 1 st and 2 nd temperature detection units 29 and the coolant temperature detection unit 24 are normal when the difference between the two temperatures is within the predetermined normal range, and determines that the abnormality is generated in any one or more of the differences between the two temperatures within the 3 temperatures when the difference between the two temperatures is not within the predetermined normal range, or in any one or both of the 1 st and 2 nd temperature detection units 29 and the coolant temperature detection unit 24.
The above-described determined condition is a condition arbitrarily determined by design or the like, and is determined, for example, in such a manner that an appropriate condition is found by test and/or simulation.
According to this embodiment, the temperature detection abnormality determination unit 30 calculates 3 temperatures, i.e., the temperatures detected by the 1 st and 2 nd temperature detection units 29 and 29, respectively, which detect the temperatures of the switching elements 33 and 33 of the inverters 25a and 25a, which drive the 1 st and 2 nd motors 6 and 6, respectively, and the temperature of the coolant detected by the coolant temperature detection unit 24, as is or under specified conditions, and the temperature detection abnormality determination unit 30 determines whether or not the differences between the two temperatures of the 3 temperatures are all within the specified normal range. The above-described operation is, for example, to subtract the switching element temperature rise value and the water temperature rise value from the above-described 3 temperatures. If the 1 st and 2 nd motors 6, 6 are not energized at the time of the command torque being supplied to the motor control section 26, the coolant and the 1 st and 2 nd inverters 25a1, 25a2 should be at substantially the same temperature since the temperature of the coolant or the like cooling the switching elements 33, the radiator, the inverter 25a, for example, does not rise. Thus, the temperature detecting units 29, 24 in which abnormality has occurred can be specified by comparing the above 3 temperatures with each other only two at a time. When the current is supplied, the temperature detecting units 29, 24 generating the abnormality can be designated in the same manner as described above, taking into consideration the value of the temperature rise of the switching element and the value of the water temperature rise by comparing the temperatures with respect to the 3 temperatures. Thus, the temperature of the switching element 33 of the inverter 25a can be detected with good accuracy.
The temperature detection abnormality determination unit 30 may determine that an abnormality has occurred in one of the temperature detection units constituting the object, when the difference between the temperatures detected by the other two temperature detection units is not within a predetermined normal range, with respect to the temperatures detected by the one of the 1 st and 2 nd temperature detection units 29 and the one of the coolant temperature detection units 24. In this case, when the power is not applied, the temperature detection values of the temperature detection unit and the other two temperature detection units constituting the object are simply compared, and the abnormality of the temperature detection unit can be simply and simply determined.
The cooling mechanism Rk includes:
the 1 st and 2 nd cooling circuits 18, the 1 st and 2 nd cooling circuits 18, 18 respectively flowing a cooling liquid through the 1 st and 2 nd inverters 25a, the 1 st and 2 nd cooling circuits 18, 18 being connected in series;
a pump 22, the pump 22 circulating the coolant through a circulation line 19 connected to the 1 st and 2 nd cooling paths 18, 18;
a radiator 23, the radiator 23 cooling the cooling paths 18, 18;
the coolant temperature detection unit 24 is provided on the upstream side of the 1 st and 2 nd cooling paths 18, 18 of the circulation line 19 with respect to the radiator 23;
The temperature detection abnormality determination unit 30 includes:
a coolant temperature rise estimation unit 30a, wherein the coolant temperature rise estimation unit 30a is configured to calculate a coolant temperature rise based on the 1 st inverter 25a located upstream of the circulation line 19 with respect to the radiator 23 when the 1 st and 2 nd motors 6, 6 to which the motor control unit 26 is supplied with the command torque are energized 1 A command value or a detection value of the current to be supplied to the 1 st inverter 25a 1 The temperature rise value of the cooling liquid of (2) is estimated as a1 st cooling liquid temperature rise estimated value Tw1 u;
a switching element temperature rise value estimating unit 30b for estimating a temperature rise value of a switching element 33, which is the 1 st and 2 nd switching element temperature rise estimated values T1u, T2u, respectively, based on a command value or a detection value of a current for energizing the 1 st and 2 nd inverters 25a1, 25a2, the switching element temperature rise value estimating unit 30b estimating the temperature rise value of the switching element 33, which is the 1 st inverter 25a, respectively 1 The switch element 33 of the 1 st temperature detecting unit 29; the 2 nd inverter 25a located downstream of the circulation line 19 with respect to the radiator 23 2 On the arrangement of (a)The switching element 33 of the 2 nd temperature detecting unit 29.
The temperature detection abnormality determination unit 30 may determine whether or not differences calculated by the following equations are within the predetermined normal range, and if any two of the differences are not within the predetermined normal range, determine that an abnormality has occurred in the temperature detection unit that detects a temperature that is included in the equation that calculates the two differences, the equation including:
formula 1 (-Tw- (T1-T1 u) -), which is used for calculating the difference between the value obtained by subtracting the estimated value T1u of the 1 st switching element temperature rise from the 1 st temperature detection value T1 and the coolant temperature Tw detected by the coolant temperature detection unit 24;
formula 2 (-Tw- (T2-T2 u-Tw1 u) } for calculating a difference between the value obtained by subtracting the estimated 2 nd switching element temperature increase value T2u from the 2 nd temperature detection value T2 and the estimated 1 st cooling liquid temperature increase value Tw1 u;
formula 3 (-T1 u) - (T2-T2 u-Tw1 u) -which is used to calculate the difference between the 1 st temperature detection value T1 and the 1 st switching element temperature rise estimated value T1 u; the 1 st coolant temperature increase estimated value Tw1u is subtracted from the value obtained by subtracting the 2 nd switching element temperature increase estimated value T2u from the 2 nd temperature detected value T2.
According to this configuration, when the cooling passages 18, 18 of the 1 st and 2 nd are connected in series and the coolant temperature detection unit 24 is provided on the upstream side of these cooling passages 18, it is possible to determine whether or not an abnormality has occurred in the temperature detection unit by estimating the temperature rise amounts of the switching elements 33, 33 and the temperature rise value of the coolant on the upstream side even when the current is supplied.
The cooling mechanism Rk may further include:
the 1 st and 2 nd cooling paths 18, the 1 st and 2 nd cooling paths 18, 18 respectively flowing a cooling liquid through the 1 st and 2 nd inverters 25a1, 25a2, the 1 st and 2 nd cooling paths 18, 18 being connected in parallel;
a pump 22, the pump 22 circulating the coolant through a circulation line 19 connected to the 1 st and 2 nd cooling paths 18, 18;
a radiator 23, the radiator 23 cooling the coolant;
the coolant temperature detection unit 24 is provided on the upstream side of the 1 st and 2 nd cooling paths 18, 18 of the circulation line 19 with respect to the radiator 23;
the coolant temperature detection unit 30 includes a switching element temperature rise estimation unit 30b, and the switching element temperature rise estimation unit 30b estimates, when the 1 st and 2 nd motors 6 to which the command torque is supplied from the motor control unit 26 are energized, the temperature rise values of the switching elements 33 provided with the 1 st and 2 nd temperature detection units 29, 29 as 1 st and 2 nd switching element temperature rise estimation values T1u, T2u, respectively, based on command values or detection values of currents for energizing the 1 st and 2 nd inverters 25a1, 25a 2.
The temperature detection abnormality determination unit 30 may determine whether or not differences calculated by the following equations are each within a predetermined normal range, and determine that an abnormality has occurred in a temperature detection unit that detects a temperature that is included in common by the equation that calculates the two differences when any two of the differences are not within the predetermined normal range, the equation including:
formula 4 (-Tw- (T1-T1 u) -), which is used for calculating the difference between the value obtained by subtracting the estimated value T1u of the 1 st switching element temperature rise from the 1 st temperature detection value T1 and the coolant temperature Tw detected by the coolant temperature detection unit 24;
equation 5 (-Tw- (T2-T2 u) -, which is used to calculate the difference between the value obtained by subtracting the estimated value T2u of the temperature rise of the 2 nd switching element from the 2 nd temperature detection value T2 and the coolant temperature Tw detected by the coolant temperature detection unit 24;
and a formula 6 (- (T1-T1 u) - (T2-T2 u) } i) for calculating a difference between a value obtained by subtracting the 1 st switching element temperature increase estimated value T1u from the 1 st temperature detected value T1 and a value obtained by subtracting the 2 nd switching element temperature increase estimated value T2u from the 2 nd temperature detected value T2.
According to this embodiment, when the cooling passages 18, 18 of the 1 st and 2 nd are connected in parallel and the coolant temperature detection unit 24 is provided on the upstream side of these cooling passages 18, it is possible to determine whether or not an abnormality has occurred in the temperature detection unit by estimating the temperature rise value of the switching element 33 even when the power is on. In addition, in the case where the 1 st and 2 nd cooling passages 18, 18 are connected in parallel, since the temperature rise value of the cooling liquid on the upstream side is not estimated, it is possible to more easily determine whether or not there is an abnormality in the temperature detection unit, as compared with the case where the 1 st and 2 nd cooling passages 18, 18 are connected in series.
The cooling mechanism Rk may further include:
the 1 st and 2 nd cooling paths 18, the 1 st and 2 nd cooling paths 18, 18 flowing the coolant to the 1 st and 2 nd inverters 25a, respectively, the 1 st and 2 nd cooling paths 18, 18 being connected in series;
a pump 22, the pump 22 circulating the coolant through a circulation line 19 connected to the 1 st and 2 nd cooling paths 18, 18;
a radiator 23, the radiator 23 cooling the coolant;
the coolant temperature detecting unit 24 is provided downstream of the 1 st and 2 nd cooling paths 18, 18 of the circulation line 19 with respect to the radiator 23;
the temperature detection abnormality determination unit 30 includes:
A coolant temperature rise estimating unit 30a for estimating, when the 1 st and 2 nd motors 6 to which the command torque is supplied from the motor control unit 26 are energized, the coolant temperature rise estimating unit 30a as 1 st and 2 nd coolant temperature rise estimated values Tw1u and Tw2u based on command values or detection values of currents for energizing the 1 st and 2 nd inverters 25a and 25a, respectively;
a switching element temperature rise estimation unit 30b, the switching element temperature rise estimation unit 30b based on the first and second modes 1 and 12 the command value or the detection value of the current supplied to the inverters 25a1, 25a2 estimates the temperature rise value of the switching element 33 as the 1 st and 2 nd switching element temperature rise estimated values T1u, T2u, respectively, the switching element 33 being the 1 st inverter 25a located upstream of the circulation line 19 with respect to the radiator 23 1 The switch element 33 of the 1 st temperature detecting unit 29; the 2 nd inverter 25a located downstream of the circulation line 19 with respect to the radiator 23 2 The switching element of the 2-temperature detecting unit 29 is provided.
The temperature detection abnormality determination unit 30 may determine whether or not differences calculated by the following equations are each within a predetermined normal range, and determine that an abnormality has occurred in a temperature detection unit that detects a temperature that is included in common by the equation that calculates the two differences when any two of the differences are not within the predetermined normal range, the equation including:
formula 7 (-Tw- (Tw 2u-Tw1 u) - (T1-T1 u) }) for calculating a difference between a value (T1-T1 u) obtained by subtracting the 1 st switching element temperature increase estimated value T1u from the 1 st temperature detected value T1 and a value (Tw-Tw 2u-Tw1 u) obtained by subtracting the 2 nd coolant temperature increase estimated value Tw2u and the 1 st coolant temperature increase estimated value Tw1u from the coolant temperature Tw detected by the coolant temperature detecting unit 24;
equation 8 (i.e., -2-Tw 2u-Tw1 u) - (T2-T2 u-Tw1 u) for calculating a difference between a value (T2-T2 u-Tw1 u) obtained by subtracting the 1 st coolant temperature increase estimated value Tw1u and a value (Tw-Tw 2u-Tw1 u) obtained by subtracting the 2 nd coolant temperature increase estimated value Tw2u and the 1 st coolant temperature increase estimated value Tw1u from the 2 nd temperature detected value T2;
And a formula 9 (-between (T1-T1 u) and (T2-T2 u-Tw1 u) -), which is used for calculating a difference between a value (T1-T1 u) obtained by subtracting the 1 st estimated value of the temperature rise of the switching element T1u from the 1 st detected temperature value T1 and a value obtained by subtracting the 2 nd estimated value of the temperature rise of the switching element T2u from the 2 nd detected temperature value T2 and a value obtained by subtracting the 1 st estimated value of the temperature rise of the cooling liquid Tw1 u.
According to the above-described configuration, when the 1 st and 2 nd cooling paths 18, 18 are connected in series and the coolant temperature detection unit 24 is provided on the downstream side of these cooling paths 18, by estimating the temperature rise values of the switching elements 33, 33 and the temperature rise values of the coolant of the 1 st and 2 nd inverters 25a, it is possible to determine whether or not an abnormality has occurred in the temperature detection unit even when the coolant temperature detection unit 24 is provided on the downstream side.
The cooling mechanism Rk may further include:
the 1 st and 2 nd cooling paths 18, the 1 st and 2 nd cooling paths 18, 18 flowing the coolant to the 1 st and 2 nd inverters 25a, respectively, the 1 st and 2 nd cooling paths 18, 18 being connected in parallel;
a pump 22, the pump 22 circulating the coolant through a circulation line 19 connected to the 1 st and 2 nd cooling paths 18, 18;
A radiator 23, the radiator 23 cooling the coolant;
the coolant temperature detecting unit 24 is provided downstream of the 1 st and 2 nd cooling paths 18, 18 of the circulation line 19 with respect to the radiator 23;
the temperature detection abnormality determination unit 30 includes a switching element temperature rise estimation unit 30b that estimates, when the 1 st and 2 nd motors 6, 6 to which the motor control unit 26 is supplied with the command torque, a temperature rise value, which is a temperature rise value of the switching elements 33, 33 in which the 1 st and 2 nd temperature detection units 29, 29 are provided, from a command value or a detection value of a current for supplying the 1 st and 2 nd inverters 25a1, 25a2, respectively, as 1 st and 2 nd switching element temperature rise estimation values T1u, T2 u.
The temperature detection abnormality determination unit 30 determines whether or not differences calculated by the following equations are each within a predetermined normal range, and determines that an abnormality has occurred in a temperature detection unit that detects a temperature that is included in common by the equation that calculates the two differences when any two of the differences are not within the predetermined normal range, the equation including:
Formula 10 (-Tw- (Tw1u+T2u)/2- (T1-T1 u) -which is a difference between a value (T1-T1 u) obtained by subtracting the estimated value T1u of the 1 st switching element temperature increase from the 1 st temperature detection value T1 and a value (-Tw- (Tw1u+Tw 2 u)/2) obtained by subtracting an average value of the estimated values Tw1u and Tw2u of the 1 st and 2 nd cooling passages 18 and 18 from the cooling liquid temperature Tw detected by the cooling liquid temperature detection unit 24;
formula 11 (-Tw- (Tw1u+T2u)/2- (T2-T2 u) -which is a difference between a value obtained by subtracting the estimated value T2u of the 2 nd switching element temperature increase from the 2 nd temperature detection value T2 and a value obtained by subtracting the average value of the estimated values Tw1u and Tw2u of the 1 st and 2 nd cooling passages 18 and 18 from the cooling liquid temperature Tw detected by the cooling liquid temperature detection unit 24 () (Tw- (Tw1u+Tw 2 u)/2 ");
and a 12 th equation (- (T1-T1 u) - (T2-T2 u) - ") for calculating a difference between a value obtained by subtracting the 1 st switching element temperature increase estimated value T1u from the 1 st temperature detected value T1 and a value obtained by subtracting the 2 nd switching element temperature increase estimated value T2u from the 2 nd temperature detected value T2. Since the pressure losses and the flow rates of the 1 st and 2 nd cooling paths 18 and 18 are the same, the average value of the estimated values of the temperature rise of the cooling liquid in the 1 st and 2 nd cooling paths 18 and 18 is used to calculate the temperature rise of the cooling liquid in the 1 st and 2 nd inverters 25a1 and 25a 2. When the pressure loss and the flow rate are different, it is necessary to calculate the temperature rise value of the coolant of the 1 st and 2 nd inverters 25a1, 25a2 by using the flow rates and the estimated temperature rise values of the coolant. If, for example, the flow of the two inverters 25a1, 25a2 is La 1 、La 2 The expression is obtained by the following expression.
{(Tw1u×La 1 +(Tw2u×La 2 )}/(La 1 +La 2 )
According to this configuration, when the cooling passages 18 and 18 of the 1 st and 2 nd are arranged in parallel and the coolant temperature detection unit 24 is provided on the downstream side of these cooling passages 18 and 18, the estimated value of the temperature rise of the coolant in the 1 st and 2 nd cooling passages 18 and 18 can be calculated by estimating the temperature rise of the switching elements 33 and the temperature rise value of the coolant in the 1 st and 2 nd inverters 25a and using the temperature rise value of the coolant in the 1 st and 2 nd inverters 25a and 25 a. For these reasons, even in the case where the coolant temperature detection unit 24 is provided on the downstream side, it is possible to determine whether or not an abnormality has occurred in the temperature detection unit.
Any combination of at least two structures disclosed in the claims and/or the specification and/or the drawings is encompassed by the present invention. In particular, any combination of two or more of the claims is also encompassed by the present invention.
Drawings
The invention will be more clearly understood from the following description of preferred embodiments with reference to the accompanying drawings. However, the embodiments and drawings are for illustration and description only and should not be used to limit the scope of the invention. The scope of the invention is defined by the appended claims. In the drawings, like reference numerals designate identical or corresponding parts throughout the several views.
Fig. 1 is a block diagram showing a conceptual scheme of a motor vehicle equipped with a drive control device according to embodiment 1 of the present invention in a plan view;
FIG. 2 is a cross-sectional view of a hub motor drive in the motor vehicle of FIG. 1;
fig. 3 is a diagram showing an example of connection of the cooling circuit of the inverter in the drive control apparatus of fig. 1;
fig. 4 is a diagram showing an example in which the cooling paths of the inverter of fig. 3 are connected in series;
FIG. 5 is a block diagram of a control system of the drive control apparatus of FIG. 1;
fig. 6 is a diagram showing an example of abnormality determination after a lapse of a predetermined time after the stop of energization;
fig. 7 is a diagram showing an example of abnormality determination when the degree of decrease in the temperature of the switching element is smaller than the determined degree of decrease after the energization is stopped;
fig. 8 is a diagram showing an example of decreasing the determined normal range with the lapse of time after the stoppage of energization;
fig. 9 is a diagram showing an example of abnormality determination when the temperatures of the two switching elements are saturated at the time of energization;
fig. 10 is a diagram showing an example of map drawing (map) for estimating the temperature rise of the switching element;
FIG. 11 is a diagram showing an example of map (map) of estimated water temperature increase;
fig. 12 is a block diagram of a control system of a drive control apparatus according to embodiment 2 of the present invention;
Fig. 13A is a diagram showing an example of connection of the cooling circuit of the inverter of the drive control apparatus according to embodiment 3 of the present invention;
fig. 13B is a diagram showing an example of connection of the cooling circuit of the inverter of the drive control device according to embodiment 4 of the present invention;
fig. 13C is a diagram showing an example of connection of the cooling circuit of the inverter of the drive control device according to embodiment 5 of the present invention;
fig. 14A is a diagram showing an example of connection of the cooling circuit of the inverter of the drive control device according to embodiment 6 of the present invention;
fig. 14B is a diagram showing the cooling paths of the inverters of fig. 14A in an enlarged manner;
fig. 15A is a diagram showing an example of connection of the cooling circuit of the inverter of the drive control device according to embodiment 7 of the present invention;
fig. 15B is a diagram showing an example of connection of the cooling circuit of the inverter of the drive control device according to embodiment 8 of the present invention;
fig. 15C is a diagram showing an example of connection of the cooling circuit of the inverter of the drive control device according to embodiment 9 of the present invention;
fig. 16 is a block diagram showing a conceptual scheme of a loading motor of a drive control device according to each embodiment of the present invention, in plan view.
Detailed Description
Embodiment 1 of the present invention will be described with reference to fig. 1 to 11.
< concept of Motor-equipped Motor vehicle >
Fig. 1 is a block diagram showing a conceptual scheme of a motor vehicle equipped with a drive control device according to embodiment 1 of the present invention in a plan view. The motor-equipped vehicle is a four-wheel electric vehicle in which wheels 2 constituting left and right rear wheels of a vehicle body 1 are drive wheels and wheels 3 constituting left and right front wheels are driven wheels. The wheels constituting the front wheels are steering wheels. The wheels 2 and 2 constituting the driving wheels are driven by independent motors 6 for running. Each motor 6 constitutes a hub motor driving device IWM described later. Brakes are provided on the wheels 2 and 3. The wheels 3, 3 as steering wheels forming the left and right front wheels can be steered by a steering mechanism 15 such as a steering wheel via a steering mechanism not shown in the figure.
< general Structure of hub Motor drive device IWM >
As shown in fig. 2, the left and right hub motor driving devices IWM each include a motor 6, a speed reducer 7, and a wheel bearing 4, and a part or the whole of these are provided inside the wheel. The rotation of the motor 6 is transmitted to the wheel 2 as a driving wheel via the speed reducer 7 and the wheel bearing 4. A brake disc 5 constituting the brake is fixed to a flange portion of the hub wheel 4a of the wheel bearing 4, and the brake disc 5 rotates integrally with the wheel 2.
The motor 6 is a three-phase motor, for example, a buried magnet type synchronous motor in which permanent magnets are provided inside the core portion of the rotor 6 a. The motor 6 is a motor in which a radial gap is provided between a stator 6b fixed to a housing 8 and a rotor 6a attached to a rotary output shaft 9.
< Cooling System >
As shown in fig. 1 to 3, the drive control device 16 includes an inverter device 13, and the inverter device 13 controls the 1 st and 2 nd motors 6 and 6 for driving the left and right drive wheels, respectively. The inverter device 13 includes 1 st and 2 nd cooling paths 18, and the 1 st and 2 nd cooling paths 18, 18 flow the coolant to 1 st and 2 nd inverters 25a1, 25a2 corresponding to the 1 st and 2 nd motors 6, respectively. The drive control device 16 includes a cooling mechanism Rk that cools the inverters 25a1, 25a2 by a coolant. The cooling mechanism Rk includes, as shown in fig. 3 and 4: a pump 22, the pump 22 circulating the coolant through a circulation line 19 communicating with the 1 st and 2 nd cooling paths 18; a radiator 23, the radiator 23 cooling the coolant. The radiator 23 is provided, for example, at the front of the vehicle body where the traveling wind is likely to collide. The pump 22 may also be a so-called water pump.
Downstream of the radiator 23, the cooling paths 18, 18 and the pump 22 of the 1 st and 2 nd inverters 25a1, 25a2 are connected in series through pipes in this order. The circulation line 19 is configured by connecting a radiator 23 to a pump 22 via a pipe. In this example, a coolant temperature detection unit (water temperature sensor) 24 that detects the water temperature of the coolant is provided in the circulation line immediately downstream of the radiator 23 and upstream of the upstream side cooling passage 18. If the ECU 14 (fig. 1) rotates and drives the fan 23a of the radiator 23 and performs control to increase the flow rate by the pump 22, for example, when the water temperature detected by the coolant temperature detection unit 24 is equal to or higher than the determined temperature.
< control System >
Fig. 5 is a block diagram of a control system of the drive control device 16. The drive control device 16 includes: an ECU 14 as an electronic control unit, the ECU 14 performing control of the entire automobile; an inverter device 13, wherein the inverter device 13 controls the left and right motors 6, 6 for traveling in accordance with the instruction of the ECU 14. The ECU 14 is also called a VCU (vehicle control unit) in the case of an electric vehicle.
The inverter 13 includes power supply circuit units 25, and the power supply circuit units 25, 25 are provided for the motors 6; a motor control unit 26, the motor control unit 26 controlling the power supply circuit units 25, 25. The motor control unit 26 includes motor drive control units 27 and 27 corresponding to the two motors 6 and 6, respectively, command current calculation units 28 and 28, temperature measurement circuits 29a and 29a, a temperature detection abnormality determination unit 30, and a torque limitation unit 31. The motor control unit 26 has a function of outputting information such as detection values and control values of the hub motor driving device IWM (fig. 2) held by the motor control unit 26 to the ECU 14.
Each power supply circuit portion 25 includes an inverter 25a, and the inverter 25a converts the direct current of the battery 32 into three-phase alternating current for driving the motor 6; a gate driving circuit 25b, the gate driving circuit 25b driving the inverter 25a. Each inverter 25a is constituted by a half-bridge circuit including semiconductor switching elements (a plurality of switching elements) 33 of U-phase, V-phase, and W-phase. The gate drive circuit 25b drives each semiconductor switching element (IGBT) 33 in accordance with the inputted on/off command. Each inverter 25a may be configured by a half-bridge circuit.
The motor control unit 26 is composed of a computer, a program running therein, and an electronic circuit. The motor control unit 26 includes motor drive control units 27, 27 as control units constituting a basic structure. The motor drive control units 27 drive the respective systems. As shown in fig. 1 and 5, the command torque calculation unit 14a of the ECU 14 generates, as command torque, acceleration and deceleration commands to be given to the motors 6, 6 of the wheels 2, 2 of the left and right rear wheels based on a signal (acceleration command) of an acceleration opening degree output from the acceleration operation unit 20 and a deceleration command output from the brake operation unit 21, or based on an acceleration command and a deceleration command and a turning command output from the steering mechanism 15, and outputs the command torque to the command current calculation units 28 via the torque restriction unit 31 of the motor control unit 26.
As shown in fig. 5, the torque control unit 31 performs torque limitation as needed when a command torque is transmitted from the command torque calculation unit 14a of the ECU 14. In the torque limiter 31, when the semiconductor switching element 33, the motor 6, and/or the oil temperature are/is high, the torque is limited, and the driving of the motor 6 is stopped in some cases. In the case where the detected temperature abnormality is determined by the temperature detection abnormality determination unit 30 as will be described later, the torque limitation unit 31 may limit the torque to a level (for example, half of the maximum torque) that is not in the overheat state, and continue the control. The motor 6 may be stopped instead of this.
Each command current calculation unit 28 calculates a current command corresponding to an acceleration/deceleration command such as a command torque supplied from the ECU 14 via the torque limiter unit 31, and supplies the current command to each motor drive control unit 27 and a temperature detection abnormality determination unit 30 described later. The motor drive control units 27 obtain the currents flowing through the motors 6 from the inverters 25a from the current sensors 34, and perform current feedback control associated with the detected currents with respect to the current command. The command voltage is calculated by feedback control, and the command voltage is made a pulse amplitude modulation signal, and an on/off command is supplied to the gate drive circuit 25b.
< temperature detection section, temperature detection abnormality determination section, etc.)
The inverter 13 is provided with 1 st and 2 nd temperature detecting portions 29 1 、29 2 (collectively "29"). 1 st temperature detecting portion 29 1 Comprising the following steps: 1 st measuring section 29b 1 (29b) The 1 st measuring unit 29b 1 Is arranged on the 1 st motor 6 1 (6) 1 st inverter 25a of (2) 1 (25a) Any one of the plurality of semiconductor switching elements 33; temperature measuring circuit 29a 1 (29a) The temperature measuring circuit 29a 1 (29a) Will pass through the 1 st measuring part 29b 1 The measured value of the measured voltage or the like is converted into a temperature. Can pass through the 1 st temperature detecting part 29 1 The temperature of the corresponding semiconductor switching element 33 is detected.
Temperature detection unit 29 of No. 2 2 Comprises a 2 nd measuring part 29b 2 (29b) The 2 nd measuring unit 29b 2 Is arranged on the driving motor 2 and 6 2 (6) 2 nd inverter 25a of (2) 2 (25a) Any one of the plurality of semiconductor switching elements 33; temperature measuring circuit 29a 2 (29a) The temperature measuring circuit 29a 2 (29a) Will be passed through the 2 nd measuring part 29b 2 The measured value is converted into a temperature. Can pass through the 2 nd temperature detecting part 29 2 The temperature of the corresponding semiconductor switching element 33 is detected.
The measurement unit 29b of each temperature detection unit 29 may employ a diode or a thermistor for temperature sensing, for example. The temperature measurement circuit 29a of each temperature detection unit 29 includes, for example, a mechanism for performing linear processing on a measured value, a mechanism for insulating between a high voltage and a low voltage and transmitting a signal (an insulator for the high voltage and the low voltage), an amplifier for amplifying a voltage, a filter circuit, an AD converter, and the like.
The temperature detecting units 29 each fix the measuring unit 29b to the semiconductor switching element 33 of the U-phase on the negative voltage side, for example, and detect the temperature of the semiconductor switching element 33. For example, the measurement unit 29b may be fixed to the semiconductor switching element 33 of the other phase on the negative voltage side or the semiconductor switching element 33 of any phase on the positive voltage side, and the temperature of the semiconductor switching element 33 may be detected.
The temperature detection abnormality determination unit 30 determines the temperature detection unit 29 when not energized and when energized 1 、29 2 Whether one or both of them have an anomaly. The non-energization state refers to a state in which the ECU14 supplies no command torque to the motor control unit 26 and the energization of each motor 6 is stopped, and the energization state refers to a state in which the ECU14 supplies a command torque to the motor control unit 26.
When the 1 st and 2 nd cooling circuits 18, 18 of the 1 st and 2 nd inverters 25a1, 25a2 are connected in series as shown in fig. 4, the temperature detection abnormality determination unit 30 determines the 1 st measurement unit 29 by comparing the temperatures of the respective switching elements of the 1 st and 2 nd inverters 25a1, 25a2 as shown in fig. 5 1 And a2 nd measuring unit 29 2 Is a corresponding anomaly of (a). Among the abnormalities of the temperature detection sections 29, for example, (1) cases where the temperature detection value is out of the normal temperature range; (2) Although in the normal temperature range, the temperature detection value is a fixed value; (3) Although in the normal temperature range, when the temperature detection value deviates from the actual temperature, etc.
< determination of abnormality at non-Power-on >
The temperature detection abnormality determination unit 30 passes through the 1 st and 2 nd temperature detection units 29 1 、29 2 When the difference between the temperatures detected by the respective sensors is not within the determined normal range, the temperature of the sensor is determinedThe degree detection unit 29 generates an abnormality. The reason for this is that: when not energized, the 1 st and 2 nd inverters 25a1, 25a2 should be at substantially the same temperature.
However, if after switching from the energization time to the non-energization time, it takes time for the switching element temperature to decrease. As a result, the temperature detection abnormality determination unit 30 may perform abnormality determination after the time t1 has elapsed since the command torque was zero, as shown in fig. 6. In place of this, the command torque is zero and then passed through the 1 st and 2 nd temperature detection units 29 as shown in FIG. 7 1 、29 2 (fig. 5) at a time t2 when the detected degree of temperature drop is smaller than the determined degree of drop, abnormality determination is performed. The degree of the decrease refers to a temperature decreased per unit time.
As shown in fig. 5 and 8, the temperature detection abnormality determination unit 30 may decrease the determined normal range (threshold value) K with the lapse of time after the command torque becomes zero. In this case, the first threshold value K after the command torque is zero may be determined from the previous current value, the cumulative value of the square of the current, or the like. The current value described here may be a current command supplied from each command current calculation unit 28, or may be a current detected by the current sensor 34 instead.
< determination of abnormality at the time of Power-on >
As shown in fig. 3 and 5, the 1 st inverter 25a on the upstream side 1 And a2 nd inverter 25a on the downstream side 2 When the currents to be supplied are the same (i.e., the 1 st and 2 nd motors 6, 6 generate the same torque), the temperature detection abnormality determination unit 30 determines that at least one of the temperature detection units 29 is abnormal when the difference (|t1— (T2-Tw 1 u)) is not within the predetermined normal range, the difference being that the corresponding 1 st temperature detection unit 29 is passed 1 And a2 nd temperature detecting part 29 for detecting the temperature detection value T1 of the upstream side switching element 33 and the passing correspondence 2 And a difference between the calculated value (T2-Tw 1 u) obtained by subtracting the coolant temperature increase estimated value Tw1u from the temperature detected value T2 of the downstream switching element 33 is detected. The following conditions are given as the preconditions for abnormality determinationThat is, the 1 st and 2 nd inverters 25a1, 25a2 are integrated or separate, and in the case of being separate, there is no other cooling object between the 1 st and 2 nd inverters 25a1, 25a2, i.e., the 1 st inverter 25a on the upstream side, on the water path 1 Has the 2 nd inverter 25a on the immediately downstream side 2 。
The temperature detection abnormality determination unit 30 includes a coolant temperature rise estimation unit 30a. The coolant temperature rise estimation unit 30a estimates the coolant temperature rise based on the upstream 1 st inverter 25a 1 The command value or the detection value of the current to be supplied is calculated or plotted (map) or the like, and the temperature rise value of the coolant is estimated as the coolant temperature rise estimated value Tw1u. The relation between the command value or the detected value of the current and the estimated value Tw1u of the coolant temperature increase is predetermined by a map example shown in fig. 11 or the like.
When the estimated coolant temperature rise Tw1u is estimated using the detected value of the current, the estimated coolant temperature rise Tw1u is accurately estimated even when the current is greater than or less than the command value due to some abnormality. On the other hand, when the command value of the current is used, the estimated value Tw1u of the coolant temperature rise can be calculated stably even when the current fluctuates due to load fluctuation, voltage fluctuation, noise, other external disturbances, and the like.
In the abnormality determination at the time of energization, abnormality determination is started at time T3 when the temperatures T1 and T2 of the two switching elements are saturated, as shown in fig. 9. The time of saturation refers to when a certain amount of time (a predetermined time) has elapsed or when the degree of temperature change is equal to or less than a predetermined value. The predetermined time the prescribed value is determined by test and/or simulation. In addition, when the switching element temperature is saturated, and the abnormality determination is performed in a transition period before the switching element temperature is saturated, the switching element temperature may be estimated at ordinary times based on the integrated value of the square of the current value and the heat release amount.
In fig. 3 and 5, when the currents for energizing the 1 st and 2 nd inverters 25a1, 25a2 are different (that is, the 1 st and 2 nd motors 6, 6 generate different torques), not only the estimated value Tw1u of the coolant temperature rise but also the temperature rise of the switching element 33 of each inverter 25a appears as a difference in the switching element temperatures of the 1 st and 2 nd inverters 25a1, 25a 2.
Therefore, the temperature detection abnormality determination unit 30 determines that at least one of the temperature detection units 29 is abnormal when the difference (i (T1-T1 u) - (T2-T2 u-Tw1 u)) between the value (T1-T1 u) obtained by subtracting the estimated value T1u of the temperature rise of the switching element 33 from the temperature detection value T1 of the switching element 33 on the upstream side and the value (T2-T2 u-Tw1 u) obtained by subtracting the estimated value T2u of the temperature rise of the switching element from the temperature detection value T2 of the switching element 33 on the downstream side is within the indeterminate range (i.e., i.t 1-T1 u) - (T2-T2 u-Tw1 u).
The temperature detection abnormality determination unit 30 further includes a switching element temperature rise estimation unit 30b. The switching element temperature rise value estimating unit 30b estimates the temperature rise values of the switching elements 33 and 33 on the upstream side and the downstream side as switching element temperature rise estimated values T1u and T2u by using calculation, map, or the like, based on the command value or the detection value of the current for energizing the 1 st and 2 nd inverters 25a1 and 25a 2. The relation between the command value or the detected value of the current and the estimated values T1u and T2u of the temperature rise of the switching element is predetermined by, for example, a map (map) example shown in fig. 10.
When the estimated values of the switching element temperature rise T1u and T2u are estimated using the detected values of the current, the estimated values of the switching element temperature rise T1u and T2u are accurately estimated even when the abnormal current of some kind is larger or smaller than the command value. On the other hand, when the command value of the current is used, even when the current fluctuates due to load fluctuation, voltage fluctuation, noise, other external disturbance, or the like, the estimated values T1u, T2u of the temperature rise of the switching element can be calculated stably.
In fig. 3 and 5, estimated values T1u and T2u of the temperature rise of the switching elements are temperature rise values of the switching elements 33 and 33 on the upstream side and the downstream side with respect to the temperature of the coolant before entering each inverter 25 a. Strictly speaking, there is a possibility that the temperature of the coolant increases in the line reaching the temperature measurement point, but the temperature also includes the amount of the temperature increase of the coolant from before the inverter to the temperature measurement point.
The following describes the abnormality determination method. In the case where the 1 st and 2 nd inverters 25a1, 25a2 are provided in series on the water path, the 1 st inverter 25a 1 Disposed upstream, inverter 2 25a 2 Is arranged downstream. The other embodiments described later are also similar.
The respective parameters are as follows.
T1: 1 st inverter 25a 1 A temperature detection value of the switching element;
t2: inverter 2 25a 2 A temperature detection value of the switching element;
tlu: estimated value of coolant temperature rise of the 1 st inverter on the upstream side;
k: a determined normal range;
t1u: 1 st inverter 25a 1 A switching element temperature rise estimated value of (a);
t2u: inverter 2 25a 2 A switching element temperature rise estimated value of (a);
1. when not energized
If I T1-T2I > K is true, it is determined as abnormal.
2. When electrified
2-1. Where the same value of current is used
If the I T1- (T2-Tlu) I > K is satisfied, it is determined that the cooling paths are abnormal.
When the cooling paths are connected in parallel (described later), if the I T1-T2I > K is satisfied, it is determined that the cooling paths are abnormal.
2-2. Where currents of different values are used
When the cooling paths are connected in series, if I (T1-T1 u) - (T2-T2 u-Tlu) I > K is satisfied, it is determined that the cooling paths are abnormal.
When the cooling paths are connected in parallel (described later), if I (T1-T1 u) - (T2-T2 u) I > K is satisfied, it is determined that the cooling paths are abnormal.
< Effect >
According to the drive control device 16 described above, the temperature detection abnormality determination unit 30 compares the temperatures of the two switching elements 33, 33 with each other when the 1 st and 2 nd motors 6 are not energized. The non-energized state refers to a stop of the motor-equipped vehicle, and if the non-energized state is the case, the temperatures of the water cooling the semiconductor switching element 33, the radiator, the 1 st and 2 nd inverters 25a1, 25a2, and the like do not rise, and if the 1 st and 2 nd inverters 25a1, 25a2 are not abnormal, they are at substantially the same temperature. Thus, the temperature detection abnormality determination unit 30 can determine whether or not the detected temperature before the temperature change is normal by simply comparing the temperatures of the two switching elements 33, 33 when the power is not applied. With this, it is possible to determine with good accuracy whether or not abnormality has occurred in each temperature detecting unit 29.
The temperature detection abnormality determination unit 30 performs abnormality determination when the 1 st and 2 nd motors 6 are not energized after a predetermined time elapses after the command torque is zero, or when the 1 st and 2 nd motors 6 are not energized after the command torque is zero and the degree of temperature drop detected by the 1 st and 2 nd temperature detection units 29, 29 is smaller than the predetermined degree of drop. In this case, even when the current is not applied, the temperature rise due to the current flowing before the current is applied can be considered.
The temperature detection abnormality determining portion 30 cools the coolant, such as a heated radiator, by passing a time determined after the command torque is zero, and the temperatures of the two switching elements are reduced to a value close to the basic water temperature. In this case, since the degree of temperature decrease decreases with the approach of the relative cooling water temperature, it is possible to estimate that the temperatures of the two switching elements are close to the water temperature by the fact that the degree of temperature decrease is small.
The temperature detection abnormality determination unit 30 can increase the time for determining the abnormality of the temperature detection unit 29 when the determined normal range is reduced with the lapse of time after the command torque is zero. That is, even when the non-energization time is short, abnormality of the temperature detecting portion 29 can be judged.
Embodiment 2 of the present invention will be described. In the following description, the same reference numerals are used for the portions corresponding to the items described earlier in the respective embodiments, and redundant description is omitted. In the case where only a part of the structure is described, the other parts of the structure are the same as those described above unless otherwise specified.
< temperature detection section, coolant temperature detection section, temperature detection abnormality determination section, etc.)
In embodiment 2, as shown in fig. 12, the water temperature detected by the coolant temperature detection unit 24 is also used for abnormality determination by a temperature detection abnormality determination unit 30A described later. In the inverter device 13, the description of the 1 st and 2 nd temperature detection units 29, 29 is omitted.
The coolant temperature detection unit (water temperature sensor) 24 includes a measurement unit 24b, and the measurement unit 24b is provided in the middle of the circulation line 19; a temperature measurement circuit 24a, the temperature measurement circuit 24a being provided in the ECU 14 and converting the measurement value measured by the measurement unit 24b into a temperature. The measurement unit 24b may employ a diode or a thermistor for temperature sensing, for example, similarly to the measurement unit 29b of the temperature detection unit 29. The temperature measurement circuit 24a includes, for example, a mechanism for performing linear processing on the measured value, an amplifier for amplifying a voltage, a filter circuit, an AD converter, and the like.
The temperature detection abnormality determination unit 30A determines whether an abnormality has occurred in any one or both of the 1 st and 2 nd temperature detection units 29, 29 and the coolant temperature detection unit 24, or in both of them, when not energized and when energized. The non-energization state refers to a state in which the ECU 14 does not supply the command torque to the motor control unit 26, and the energization state refers to a state in which the ECU 14 supplies the command torque to the motor control unit 26.
When the 1 st and 2 nd cooling paths 18, 18 of the 1 st and 2 nd inverters 25a1, 25a2 are connected in series as shown in fig. 4, the temperature detection abnormality determination unit 30A determines the abnormality of the respective temperature detection units 29, 29 and the coolant temperature detection unit 24 based on the comparison of the temperature of the coolant detected by the coolant temperature detection unit 24 and the switching temperatures of the 1 st and 2 nd inverters 25a1, 25a2 as shown in fig. 12. The respective abnormalities of the temperature detection units 29, 29 and the coolant temperature detection unit 24 are collectively referred to as "abnormalities of the temperature detection unit". The abnormality of each temperature detection section includes, for example, (1) when the temperature detection value is out of the normal temperature range; (2) Although in the normal temperature range, the temperature detection value is a fixed value; (3) Although in a normal temperature range, when the temperature detection value deviates from the actual temperature, and the like.
< determination of abnormality at non-Power-on >
When the difference between the temperatures of the two switching elements 33, 33 detected by the 1 st and 2 nd temperature detecting portions 29, 29 and the corresponding temperature detection value of the temperature of the coolant detected by the coolant temperature detecting portion 24 is not within the determined normal range, the temperature detection abnormality judging portion 30A judges that abnormality has occurred in one of the temperature detecting portions 29, 24. The reason for this is that the 1 st and 2 nd inverters 25a and 25a should have substantially the same temperature as the temperature of the coolant when not energized. The abnormality determination at the time of non-energization may be performed as described with reference to fig. 6 to 8.
< determination of abnormality at the time of Power-on >
As shown in fig. 3 and 12, when the current is supplied, the temperature difference between the temperature of the coolant detected by the coolant temperature detection unit 24 and the switching element temperatures of the 1 st and 2 nd inverters 25a1, 25a2 is due to the 1 st inverter 25a located upstream 1 The water temperature rise at this time and the temperature rise of the switching elements 33, 33 of the 1 st and 2 nd inverters 25a1, 25a2 are generated.
Then, the temperature detection abnormality determination unit 30A subtracts the estimated values T1u, T2u of the temperature rise of the corresponding switching element from the 1 st and 2 nd switching element temperatures, and confirms the detection of the 2 nd inverter 25a on the downstream side 2 And further deducts whether or not the difference between the value of the water temperature rise and each of two temperatures (i.e., 3 temperature differences) among the 3 temperatures including the temperature detected by the coolant temperature detection section 24 is within the determined normal range. When the temperature is not within the predetermined normal range, it is determined that abnormality has occurred in at least one of the temperature detecting units 29, 24. Due to the above 3 temperaturesIs equal to the water temperature upstream of the 1 st and 2 nd inverters 25a1, 25a2, and is identical if there is no abnormality. As a precondition for abnormality determination in the present example, there is a case where the 1 st and 2 nd inverters 25a1, 25a2 are integrated or separated, and in the case of being separated, there is no other object to be cooled between the 1 st and 2 nd inverters 25a1, 25a2 on the water path, that is, the 1 st inverter 25a on the upstream side 1 Has a2 nd inverter 25a immediately downstream of 2 。
The temperature detection abnormality determination unit 30A includes the coolant temperature rise estimation unit 30A and the switching element temperature rise estimation unit 30b described in relation to embodiment 1. The coolant temperature rise estimation unit 30a may be connected to the 1 st inverter 25a 1 The estimated coolant temperature rise value Tw1u of (2) is the same, and the 2 nd inverter 25a is estimated 2 Calculated value Tw2u of the coolant temperature increase.
The abnormality determination at the time of energization is also performed in the manner described with reference to fig. 9. The estimated values T1u and T2u of the temperature rise of the switching elements are the above-described temperature rise values.
The following is given in connection with the abnormality determination method.
The respective parameters are as follows.
T1: 1 st inverter 25a 1 A temperature detection value of the switching element;
t2: inverter 2 25a 2 A temperature detection value of the switching element;
tw1u: estimated value of coolant temperature rise of the 1 st inverter on the upstream side;
k: determined normal range
T1u: 1 st inverter 25a 1 Estimate of the temperature rise of the switching element of (2)
T2u: inverter 2 25a 2 Estimate of the temperature rise of the switching element of (2)
Tw: temperature detection value of coolant temperature detection unit 24
1. When not energized
If I T1-T2I > K is true, it is determined as abnormal
If the value of ITw-T1-K is satisfied, it is determined as abnormal
If the value of ITw-T2-K is satisfied, it is determined as abnormal
If the two temperature detection values are compared, the temperature detection unit of the temperature to be compared between the two temperature detection values is determined to be abnormal.
2. When electrified
2-1. When the cooling paths are connected in series, tw is compared with (T1-T1 u) and (T2-T2 u-Tw1 u), specifically, as described below.
Tw- (T1-T1 u) -K … … (1)
Tw- (T2-T2 u-Tw1 u) -I > K … … (2)
- (T1-T1 u) - (T2-T2 u-Tw1 u) -I > K … … (3)
When two of the formulas 1, 2, and 3 are established, it is determined that the temperature detection unit of the temperature commonly included in the two formulas is abnormal.
2-2. When the cooling paths are connected in parallel (described later), tw and (T1-T1 u) are compared with (T2-T2 u). Specifically, as described below.
Tw- (T1-T1 u) -K … … (4)
Tw- (T2-T2 u) -K … … (5)
- (T1-T1 u) - (T2-T2 u) -I > K … … (6)
When two of the formulas 4, 5, and 6 are established, it is determined that the temperature detection unit of the temperature commonly included in the two formulas is abnormal.
< Effect >
According to the drive control device 16 described above, the temperature detection abnormality determining section 30A calculates 3 temperatures (i.e., corrects it by applying a prescribed operation expression) as it is or under a specified condition, and determines whether or not the difference of the respective values is within a specified normal range, the 3 temperatures being temperatures detected by the 1 st and 2 nd temperature detecting sections 29, 29 that respectively detect the temperatures of the switching element 33 of the inverter 25a driving the 1 st motor 6 and the switching element 33 of the inverter 25a driving the 2 nd motor 6; the temperature of the coolant detected by the coolant temperature detection unit 24. If not energized at the time of stopping the vehicle as the loading motor, the temperature of the cooling liquid such as the semiconductor switching element 33, the radiator, the inverter 25a, the cooling liquid for cooling the inverter 25a, etc. does not rise, so if the cooling liquid is abnormal with the 1 st and 2 nd inverters 25a1, 25a2, they are substantially the same temperature. By comparing the three temperatures with each other, the temperature detecting units 29, 24 that generate the abnormality can be specified. When the current is supplied, the temperature detection units 29, 24 generating the abnormality can be designated as in the above description by comparing the 3 temperature increases with the switching element temperature increases and adding the water temperature increases. Thus, the temperatures of the switching elements 33 of the inverters 25a, 25a can be detected with good accuracy.
The other operational effects correspond to those described for embodiment 1.
< other embodiments >
In the following description, the same reference numerals are used for the portions corresponding to the items described earlier in the respective embodiments, and redundant description is omitted. In the case where only a part of the structure is described, the other parts of the structure are the same as those described above unless otherwise specified. The same structure realizes the same action and effect. Not only the combination of parts specifically described by the respective modes of implementation but also the combination between the modes of implementation may be partially made if not particularly hampered.
Instead of the connection example of the cooling circuit of the inverter of fig. 3, the following configuration may be formed.
As shown in fig. 13A, in embodiment 3, the 1 st and 2 nd inverters 25a1 and 25a2 may be separate bodies, and the 1 st inverter 25a on the upstream side may be configured as a single body 1 Downstream of the 2 nd inverter 25a is connected without interposing other cooling objects 2 。
As shown in fig. 13B, in embodiment 4, the 1 st and 2 nd inverters 25a1 and 25a2 may be integrally structured, and the 2 nd inverter 25a on the downstream side may be structured as one unit 2 And pump 22, a coolant temperature detecting unit 24 is provided in the middle of the circulation line between the two units 2.
As shown in fig. 13C, in embodiment 5, the 1 st and 2 nd inverters 25a1, 25a2 may be separate, and the 2 nd inverter 25a on the downstream side may be provided 2 A coolant temperature detection unit 24 is provided midway in the circulation line with the pump 22.
As shown in fig. 14A and 14B, in embodiment 6, the 1 st and 2 nd inverters 25a1 and 25a2 may be integrally structured, and the cooling paths 18 and 18 may be connected in parallel. The abnormality determination at the time of non-energization of the parallel connection is the same as the abnormality determination at the time of non-energization of the series connection.
< determination of abnormality at the time of energization based on temperatures of the 1 st and 2 nd inverters >
As shown in fig. 5, 14A, and 13B, when the currents for energizing the 1 st and 2 nd inverters 25a1, 25a2 are the same (i.e., the 1 st and 2 nd motors 6, 6 generate the same torque), the temperature detection abnormality determining unit 30 determines that abnormality has occurred in at least one of the temperature detecting units 29 when the temperature difference (/ -T1-T2) between the two switching elements 33, 33 is not within the determined normal range. When the currents for powering the 1 st and 2 nd inverters 25a1, 25a2 are the same, the temperature rise values of the two switching elements 33, 33 are the same, so that it is unnecessary to calculate the temperature rise value of the switching element 33, and the abnormality determination of the temperature detection unit 29 can be simplified.
When the currents for energizing the 1 st and 2 nd inverters 25a1, 25a2 are different, not only the estimated value Tw1u of the coolant temperature rise but also the temperature rise of the switching element 33 of each inverter 25a appears as a difference in the switching element temperatures of the 1 st and 2 nd inverters 25a1, 25a 2.
Then, the temperature detection abnormality determination unit 30 determines that at least one of the temperature detection units 29 is abnormal when the difference (i.e., (T1-T1 u) - (T2-T2 u-Tw1 u)) between the value (T1-T1 u) obtained by subtracting the estimated value T1u of the temperature rise of the switching element from the temperature detection value T1 of the switching element 33 on the upstream side and the value (T2-T2 u-Tw1 u) obtained by subtracting the estimated value T2u of the temperature rise of the switching element (T2-T2 u) from the temperature detection value T2 of the switching element 33 on the downstream side is not within the predetermined normal range. As a precondition for abnormality determination, there is a case where the water passage forms a branch line, and then no object to be cooled (overheat matter) is present until the 1 st and 2 nd inverters 25a1 and 25a2 are entered.
When the 1 st and 2 nd cooling circuits 18, 18 are connected in parallel, abnormality determination of the temperature detection unit 29 can be performed even when the current is supplied by estimating the temperature rise value of the switching element 33. In the case of parallel connection, since the coolant temperature rise value on the upstream side is not estimated, abnormality determination of the temperature detection unit 29 can be easily performed as compared with series connection.
The following configuration may be formed instead of the example of connection of the cooling circuit of the inverter of fig. 14A.
As shown in fig. 15A in embodiment 7, the 1 st and 2 nd inverters 25A1 and 25A2 may be separate bodies, and the 1 st and 2 nd cooling paths 18 and 18 may be connected in parallel.
As shown in fig. 15B, in embodiment 8, the 1 st and 2 nd inverters 25a1 and 25a2 may be integrally configured, and the coolant temperature detection unit 24 may be provided in the middle of the circulation line between the 1 st and 2 nd inverters 25a1 and 25a2 and the pump 22.
As shown in fig. 15C in embodiment 9, the 1 st and 2 nd inverters 25a1 and 25a2 may be separate, and the coolant temperature detection unit 24 may be provided in the middle of the circulation line between the 1 st and 2 nd inverters 25a1 and 25a2 and the pump 22.
< determination of abnormality at the time of energization based on the temperatures of the 1 st and 2 nd inverters and the coolant temperature >
As shown in fig. 5, 14A, 14B, and 15A, a temperature difference between the temperature detection value of the coolant temperature detection unit 24 at the time of energization and the temperature detection value of the switching elements 33, 33 of the 1 st and 2 nd inverters 25A1, 25A2 is generated by the temperature rise amount of the switching element 33 of each inverter 25A.
Then, the temperature detection abnormality determining section 30 subtracts the corresponding switching element temperature rise value from the temperature detection values of the switching elements 33 of the 1 st and 2 nd inverters 25a, and confirms whether or not the corresponding difference of the 3 temperatures including the temperature detection value of the coolant temperature detecting section 24 is within the determined normal range. Since they are all equivalent to the water temperatures upstream of the 1 st and 2 nd inverters 25a1, 25a2, they are identical if there is no difference. As a precondition for abnormality determination, there is a case where a water path branches off, and there is no cooling object (overheat matter) before entering the 1 st and 2 nd inverters 25a1 and 25a2, and there is no cooling object between the cooling liquid temperature detection unit 24 and the inverters 25a1 and 25a 2.
< method for determining abnormality in the case where the coolant temperature detection unit 24 is provided downstream >
The respective parameters are as follows.
T1: 1 st inverter 25a 1 A temperature detection value of the switching element;
t2: inverter 2 25a 2 A temperature detection value of the switching element;
tw1u: estimated value of coolant temperature rise of the 1 st inverter on the upstream side;
k: determined normal range
T1u: 1 st inverter 25a 1 A temperature rise estimated value of the switching element;
t2u: inverter 2 25a 2 A temperature rise estimated value of the switching element;
tw: a temperature detection value of the coolant temperature detection unit 24;
the control main body determined to be abnormal is a temperature detection abnormality determination unit 30A (fig. 12). The coolant temperature rise estimation unit 30a estimates the coolant temperature rise based on the downstream inverter 2 a 25a 2 The estimated coolant temperature rise Tw2u is estimated by calculation, map, or the like, as a command value or a detection value of the current to be supplied.
1. When not energized
The series connection and the parallel connection are the same as those in the case where the coolant temperature detection unit 24 is provided upstream (fig. 3).
2. When electrified
2-1. In the case of the cooling circuit series connection (FIGS. 13B and 13C), the comparison is made between (Tw-Tw 2u-Tw1 u) and (T1-T1 u) and (T2-Tw 2u-Tw1 u).
- (Tw-Tw 2u-Tw1 u) - (T1-T1 u) > K … … type (7)
- (Tw-Tw 2u-Tw1 u) - (T2-Tw 2u-Tw1 u) -I > K … … type (8)
- (T1-T1 u) - (T2-Tw 2u-Tw1 u) -I > K … … type (9)
When two of the formulas 7, 8 and 9 are established, the temperature detection unit for the temperature included in common in the two formulas is determined to be abnormal.
2-2. When the cooling paths are connected in parallel (fig. 15B and 15C), the comparison is made between (Tw- (tw1u+tw2u)/2) and (T1-T1 u) and (T2-T2 u).
Tw- (Tw1u+Tw2u)/2) - (T1-T1 u) > K … … (10)
Tw- (Tw1u+Tw2u)/2) - (T2-T2 u) > K … … (11)
- (T1-T1 u) - (T2-T2 u) -I > K … … (12)
When two of the formulas 10, 11, and 12 are established, the temperature detection unit for the temperature included in common in the two formulas is determined to be abnormal. Since the pressure loss and the flow rate are the same in the 1 st and 2 nd cooling paths 18 and 18, the average value of the estimated values of the temperature rise of the coolant in the 1 st and 2 nd cooling paths 18 and 18 is used to calculate the temperature rise value of the coolant in the 1 st and 2 nd inverters 25a1 and 25a 2. When the pressure loss and the flow rate are different, it is necessary to calculate the temperature rise value of the coolant by the 1 st and 2 nd inverters 25a1 and 25a2 by using the estimated value of the temperature rise of the coolant and the flow rate. For example, if the flow rates of the 1 st and 2 nd inverters 25a1, 25a2 are La 1 、La 2 The expression is obtained by the following expression.
{(Tw1u×La 1 )+(Tw2u×La 2 )}/(La 1 +La 2 )
As shown in fig. 5, 13B, and 13C, when the coolant temperature detection unit 24 is provided downstream and the 1 st and 2 nd cooling paths 18 and 18 are connected in series, a temperature difference between the temperature detection value of the coolant temperature detection unit 24 at the time of energization and the temperature detection values of the switching elements 33 and 33 of the 1 st and 2 nd inverters 25a1 and 25a2 is generated by the water temperature rise amount at the time of passing through each inverter 25a and the temperature rise amount of the switching element 33 of each inverter 25 a.
Then, the temperature detection abnormality determination section 30A confirms whether or not the respective differences of the 3 temperatures of the values including the subtraction of the respective switching element temperature rise values from the respective switching element temperatures are within the determined normal range, for the 2 nd inverter 25a on the downstream side 2 Further deducting the water temperature rise to obtain a value; and a value obtained by subtracting the water temperature rise of the coolant caused by the 1 st and 2 nd inverters 25a1, 25a2 from the temperature detection value of the coolant temperature detection unit 24. Since they are all equivalent to the water temperatures upstream of the 1 st and 2 nd inverters 25a1, 25a2, they are identical if there is no abnormality.
As shown in fig. 5, 15B, and 15C, when the coolant temperature detection unit 24 is provided downstream and the 1 st and 2 nd cooling paths 18 and 18 are connected in parallel, a temperature difference between the temperature detection value of the coolant temperature detection unit 24 at the time of energization and the temperature detection values of the switching elements 33 and 33 of the 1 st and 2 nd inverters 25a1 and 25a2 is generated by the amount of water temperature rise when passing through each inverter 25a and the amount of temperature rise of the switching element 33 of each inverter 25 a. Here, the difference between the water temperature before entering the branch of the 1 st and 2 nd inverters 25a1, 25a2 and the water temperature after merging by the 1 st and 2 nd inverters 25a1, 25a2 (the water temperature rising by the 1 st and 2 nd inverters 25a1, 25a 2) is an average value of the water temperature rising values rising by the 1 st and 2 nd inverters 25a1, 25a2 when the difference is divided into two flow rates. When the flow rates are different, the flow rate is obtained by calculation corresponding to the ratio.
Then, the temperature detection abnormality determining section 30 confirms whether or not the respective differences of the 3 temperatures of values including a value obtained by subtracting the respective switching element temperature rise values from the respective switching element temperatures are within the determined normal range; the value obtained by subtracting the water temperature increase amount (average value of the two water temperature increase values when the flow rates are the same) by the 1 st and 2 nd inverters 25a1, 25a2 from the temperature detection value of the coolant temperature detection unit 24. Since they are all equivalent to the water temperatures upstream of the 1 st and 2 nd inverters 25a1, 25a2, they are identical if there is no abnormality.
In the hub motor driving device, cycloidal speed reducers, planetary speed reducers, biaxial parallel speed reducers, and other speed reducers can be adopted. In the hub motor driver of the above embodiment, the rear wheel drive is given, but the front wheel drive may be used to form the four-wheel drive.
In the above embodiments, the example in which the drive control device is used in the electric vehicle having the hub motor driving device has been described, but the drive control device may be provided in a motor-equipped vehicle of a type in which two motors 6, 6 and speed reducers 7, 7 corresponding to the motors 6 are provided in the vehicle body 1 as shown in fig. 16, and the left and right wheels 3, 3 are driven by these motors 6, 6. In fig. 16, the left and right wheels driven by the motor 6 may be either the front or rear wheels 3, 2. In addition, a 4-wheel drive may also be formed.
While the embodiments for carrying out the present invention have been described above with reference to the embodiments, the embodiments disclosed herein are illustrative in all respects and not restrictive. The scope of the present invention is defined by the appended claims, rather than by the description above, and all changes that come within the meaning and range of equivalency of the claims are intended to be embraced therein.
In the present invention described above, the "determination of abnormality at the time of non-energization" is a main condition, but the modes of the application example that does not have this main condition include the following modes.
Mode 1
The drive control device for a loading motor mounted on a vehicle capable of independently driving a 1 st motor and a 2 nd motor for driving left and right driving wheels, respectively, comprises:
a power supply circuit section including 1 st and 2 nd inverters that convert direct current into alternating current for driving respective motors of the 1 st and 2 nd motors, respectively, the 1 st and 2 nd inverters converting the direct current into alternating current by opening and closing a plurality of switching elements, respectively;
a motor control unit that controls the 1 st and 2 nd motors via the power supply circuit unit in accordance with the supplied command torque;
A cooling mechanism for cooling each inverter by a coolant;
a 1 st and a 2 nd temperature detection units provided in any one of a plurality of switching elements of the 1 st inverter driving the 1 st motor, the 2 nd temperature detection unit provided in any one of a plurality of switching elements of the 2 nd inverter driving the 2 nd motor, the 1 st and 2 nd temperature detection units detecting temperatures of the respective corresponding switching elements;
a coolant temperature detection unit that detects a temperature of the coolant;
and a temperature detection abnormality determination unit that calculates 3 temperatures, each of which is a temperature of the corresponding switching element detected by the 1 st and 2 nd temperature detection units and a temperature of the coolant detected by the coolant temperature detection unit, under a condition that the temperature detection abnormality determination unit is normal to the 1 st and 2 nd detection units or a condition that the temperature detection abnormality determination unit has determined that the temperature detection unit is normal to the coolant temperature detection unit when all of the differences between the 3 temperatures are within the predetermined normal range, and that the temperature detection unit is abnormal to the coolant temperature detection unit when any one or more of the differences between the 1 st and 2 nd detection units is not within the predetermined normal range.
Description of the reference numerals:
reference numeral 2 denotes a wheel (drive wheel);
reference numeral 6 denotes a motor;
reference numeral 25 denotes a power supply circuit section;
reference numeral 25a denotes an inverter;
reference numeral 26 denotes a motor control section;
reference numeral 29 denotes a temperature detecting portion;
reference numeral 30 denotes a temperature detection abnormality determination section;
reference numeral 33 denotes a switching element.

Claims (16)

1. A drive control device for a motor-equipped vehicle, the drive control device being mounted on a vehicle capable of driving a 1 st motor and a 2 nd motor independently, the 1 st motor and the 2 nd motor driving left and right driving wheels, the drive control device comprising:
a power supply circuit unit including 1 st and 2 nd inverters for converting direct current into alternating current for driving the 1 st and 2 nd motors, respectively, the 1 st and 2 nd inverters being turned on and off by a plurality of switching elements, respectively, to convert direct current into alternating current;
a motor control unit that controls the 1 st and 2 nd motors via the power supply circuit unit in accordance with the supplied command torque;
a 1 st and a 2 nd temperature detection units provided in any one of a plurality of switching elements of the 1 st inverter for driving the 1 st motor, the 2 nd temperature detection unit provided in any one of a plurality of switching elements of the 2 nd inverter for driving the 2 nd motor, the 1 st and 2 nd temperature detection units detecting 1 st and 2 nd temperature detection values T1, T2 respectively as temperatures of the corresponding switching elements;
A temperature detection abnormality determination unit that determines whether or not abnormality has occurred in the 1 st and/or 2 nd temperature detection units by mutually comparing temperatures detected by the 1 st and 2 nd temperature detection units, and determines that abnormality has occurred in either or both of the 1 st and 2 nd detection units when no electric current is applied to the 1 st and 2 nd motors of the motor control unit and when a difference in temperature detected by the 1 st and 2 nd temperature detection units is not within a predetermined normal range,
the drive control device of the motor-equipped vehicle further includes:
a cooling mechanism that cools the 1 st and 2 nd inverters with a cooling liquid;
the cooling mechanism includes:
cooling circuits 1 and 2, the cooling circuits 1 and 2 flowing the cooling liquid to the inverters 1 and 2, respectively, the cooling circuits 1 and 2 being connected in series;
a pump for circulating the coolant through a circulation line connected to the 1 st and 2 nd cooling paths;
a radiator for cooling the coolant,
the temperature detection abnormality determination unit includes:
a coolant temperature rise estimating unit that estimates a temperature rise of the coolant of the 1 st inverter as a 1 st coolant temperature rise estimated value Tw1u, based on a command value or a detection value of a current flowing through the 1 st inverter located upstream of the radiator on the upstream side of the circulation line when the 1 st and 2 nd motors for which command torque is supplied from the motor control unit are energized;
A switching element temperature rise value estimation unit that estimates, based on a command value or a detection value of a current flowing through the 1 st and 2 nd inverters, a temperature rise value of a switching element as 1 st and 2 nd switching element temperature rise estimated values T1u, T2u, respectively, the switching element being the switching element provided with the 1 st temperature detection unit in the 1 st inverter; the switching element provided with the 2 nd temperature detecting unit in the 2 nd inverter located downstream of the circulation line with respect to the radiator;
the temperature detection abnormality determination unit determines that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units when a difference obtained by subtracting the 1 st estimated switching element temperature rise value T1u from the 1 st temperature detection value T1 is different from a value obtained by subtracting the 2 nd estimated switching element temperature rise value T2u from the 2 nd temperature detection value T2, and a value obtained by subtracting the 1 st estimated coolant temperature rise value Tw1u is different from a value obtained by subtracting the 2 nd estimated switching element temperature rise value T2u from the 1 st estimated temperature detection value T1.
2. The drive control device for a motor-equipped vehicle according to claim 1, wherein the temperature detection abnormality determination unit performs the following abnormality determination, respectively: performing abnormality determination when the 1 st and 2 nd motors are not energized after a predetermined time elapses after the command torque is zero; or when the command torque is zero and the degree of temperature drop detected by the 1 st and 2 nd temperature detection units is smaller than the determined degree of drop, the abnormality determination is performed when the 1 st and 2 nd motors are not energized.
3. The drive control device for a motor-equipped vehicle according to claim 1 or 2, wherein the temperature detection abnormality determination unit decreases the determined normal range with a lapse of time after the command torque is zero.
4. The drive control device for a motor-equipped vehicle according to claim 1 or 2, wherein the temperature detection abnormality determination unit determines that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units when a difference between the 1 st temperature detection value T1 and a value obtained by subtracting the 1 st cooling temperature increase estimated value Tw1u from the 2 nd temperature detection value T2 is not within a predetermined normal range when currents for energizing the 1 st and 2 nd inverters are the same.
5. A drive control device for a motor-equipped vehicle, the drive control device being mounted on a vehicle capable of driving a 1 st motor and a 2 nd motor independently, the 1 st motor and the 2 nd motor driving left and right driving wheels, the drive control device comprising:
a power supply circuit unit including 1 st and 2 nd inverters for converting direct current into alternating current for driving the 1 st and 2 nd motors, respectively, the 1 st and 2 nd inverters being turned on and off by a plurality of switching elements, respectively, to convert direct current into alternating current;
A motor control unit that controls the 1 st and 2 nd motors via the power supply circuit unit in accordance with the supplied command torque;
a 1 st and a 2 nd temperature detection units provided in any one of a plurality of switching elements of the 1 st inverter for driving the 1 st motor, the 2 nd temperature detection unit provided in any one of a plurality of switching elements of the 2 nd inverter for driving the 2 nd motor, the 1 st and 2 nd temperature detection units detecting 1 st and 2 nd temperature detection values T1, T2 respectively as temperatures of the corresponding switching elements;
a temperature detection abnormality determination unit that determines whether or not abnormality has occurred in the 1 st and/or 2 nd temperature detection units by mutually comparing temperatures detected by the 1 st and 2 nd temperature detection units, and determines that abnormality has occurred in either or both of the 1 st and 2 nd detection units when no electric current is applied to the 1 st and 2 nd motors of the motor control unit and when a difference in temperature detected by the 1 st and 2 nd temperature detection units is not within a predetermined normal range,
the drive control device of the motor-equipped vehicle further includes a cooling mechanism that cools the 1 st and 2 nd inverters with a coolant;
The cooling mechanism includes:
cooling circuits 1 and 2, the cooling circuits 1 and 2 flowing the cooling liquid to the inverters 1 and 2, respectively, the cooling circuits 1 and 2 being connected in parallel;
a pump for circulating the coolant through a circulation line connected to the 1 st and 2 nd cooling paths;
a radiator that cools the coolant;
the temperature detection abnormality determination unit includes a switching element temperature rise value estimation unit that estimates, when the 1 st and 2 nd motors for which the command torque is supplied from the motor control unit are energized, temperature rise values of the 1 st and 2 nd switching element temperature rise estimated values T1u and T2u, respectively, based on command values or detection values of currents for energizing the 1 st and 2 nd inverters, the temperature rise values being temperature rise values of the switching elements provided with the 1 st and 2 nd temperature detection units, respectively;
the temperature detection abnormality determination unit determines that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units when a difference between a value obtained by subtracting the 1 st switching element temperature rise estimated value T1u from the 1 st temperature detection value T1 and a value obtained by subtracting the 2 nd switching element temperature rise estimated value T2u from the 2 nd temperature detection value T2 is not within a predetermined normal range.
6. The drive control device for a motor-equipped vehicle according to claim 5, wherein the temperature detection abnormality determination unit determines that an abnormality has occurred in either or both of the 1 st and 2 nd temperature detection units when a difference between the 1 st and 2 nd temperature detection values T1 and T2 is not within a predetermined normal range when currents for energizing the 1 st and 2 nd inverters are the same.
7. A drive control device for a motor-equipped vehicle, the drive control device being mounted on a vehicle capable of driving a 1 st motor and a 2 nd motor independently, the 1 st motor and the 2 nd motor driving left and right driving wheels, the drive control device comprising:
a power supply circuit unit including 1 st and 2 nd inverters for converting direct current into alternating current for driving the 1 st and 2 nd motors, respectively, the 1 st and 2 nd inverters being turned on and off by a plurality of switching elements, respectively, to convert direct current into alternating current;
a motor control unit that controls the 1 st and 2 nd motors via the power supply circuit unit in accordance with the supplied command torque;
A 1 st and a 2 nd temperature detection units provided in any one of a plurality of switching elements of the 1 st inverter for driving the 1 st motor, the 2 nd temperature detection unit provided in any one of a plurality of switching elements of the 2 nd inverter for driving the 2 nd motor, the 1 st and 2 nd temperature detection units detecting 1 st and 2 nd temperature detection values T1, T2 respectively as temperatures of the corresponding switching elements;
a temperature detection abnormality determination unit that determines whether or not abnormality has occurred in the 1 st and/or 2 nd temperature detection units by mutually comparing temperatures detected by the 1 st and 2 nd temperature detection units, and determines that abnormality has occurred in either or both of the 1 st and 2 nd detection units when no electric current is applied to the 1 st and 2 nd motors of the motor control unit and when a difference in temperature detected by the 1 st and 2 nd temperature detection units is not within a predetermined normal range,
the drive control device for the motor-equipped vehicle further includes a cooling mechanism that cools the 1 st and 2 nd inverters with a coolant, and a coolant temperature detection unit that detects a temperature of the coolant,
The temperature detection abnormality determination unit calculates 3 temperatures, i.e., the 1 st and 2 nd temperature detection values T1 and T2 and the temperature Tw of the coolant detected by the coolant temperature detection unit, under the condition that the difference between the 1 st and 2 nd temperature detection units and the coolant temperature detection unit is within the predetermined normal range, and determines that the 1 st and 2 nd temperature detection units and the coolant temperature detection unit are normal when the difference between the 1 st and 2 nd temperature detection units and the coolant temperature detection unit are within the predetermined normal range, and determines that the abnormality is generated in any one or both or all of the 1 st and 2 nd temperature detection units and the coolant temperature detection unit when any one or more of the differences between the two temperatures are not within the predetermined normal range, respectively.
8. The motor-equipped drive control device according to claim 7, wherein the temperature detection abnormality determination unit determines that abnormality has occurred in the temperature detection unit constituting the object when a difference between the temperature detected by one temperature detection unit constituting the object and the temperature detected by the other two temperature detection units is not within a predetermined normal range, among the 1 st and 2 nd temperature detection units and the coolant temperature detection unit.
9. The drive control device for a motor-equipped vehicle according to claim 7 or 8, wherein the cooling mechanism includes:
cooling circuits 1 and 2, the cooling circuits 1 and 2 flowing the cooling liquid to the inverters 1 and 2, respectively, the cooling circuits 1 and 2 being connected in series;
a pump for circulating the coolant through a circulation line connected to the 1 st and 2 nd cooling paths;
a radiator that cools the cooling path;
the cooling liquid temperature detecting part is arranged on the upstream side of the 1 st and 2 nd cooling paths of the circulating line relative to the radiator;
the temperature detection abnormality determination unit includes:
a coolant temperature rise estimating unit that estimates a temperature rise of the coolant of the 1 st inverter as a 1 st coolant temperature rise estimated value Tw1u, based on a command value or a detection value of a current flowing through the 1 st inverter located upstream of the radiator on the upstream side of the circulation line when the 1 st and 2 nd motors for which command torque is supplied from the motor control unit are energized;
a switching element temperature rise value estimation unit that estimates, based on a command value or a detection value of a current for energizing the 1 st and 2 nd inverters, temperature rise values of switching elements, which are the switching elements provided with the 1 st temperature detection unit in the 1 st inverter, as 1 st and 2 nd switching element temperature rise estimated values T1u, respectively; and the switching element of the 2 nd temperature detecting part is arranged in the 2 nd inverter positioned at the downstream side of the circulating line relative to the radiator.
10. The motor-equipped drive control device according to claim 9, wherein the temperature detection abnormality determination unit determines whether or not differences calculated by the following equations are within a predetermined normal range, and if any two of the differences are not within the predetermined normal range, determines that the temperature detection unit is abnormal, and the temperature detection unit detects a temperature commonly included in the equations for calculating the two differences, the equation including:
formula 1 (-Tw- (T1-T1 u) -), which is used for calculating the difference between the value obtained by subtracting the estimated value T1u of the 1 st switching element temperature rise from the 1 st temperature detection value T1 and the coolant temperature Tw detected by the coolant temperature detection unit;
formula 2 (-Tw- (T2-T2 u-Tw1 u) } for calculating a difference between the value obtained by subtracting the estimated 2 nd switching element temperature increase value T2u from the 2 nd temperature detection value T2 and the estimated 1 st cooling liquid temperature increase value Tw1 u;
formula 3 (-T1 u) - (T2-T2 u-Tw1 u) -which is used to calculate the difference between the 1 st temperature detection value T1 and the 1 st switching element temperature rise estimated value T1 u; the 1 st coolant temperature increase estimated value Tw1u is subtracted from the value obtained by subtracting the 2 nd switching element temperature increase estimated value T2u from the 2 nd temperature detected value T2.
11. The drive control device for a motor-equipped vehicle according to claim 7 or 8, wherein the cooling mechanism includes:
cooling circuits 1 and 2, the cooling circuits 1 and 2 flowing the cooling liquid to the inverters 1 and 2, respectively, the cooling circuits 1 and 2 being connected in parallel;
a pump for circulating the coolant through a circulation line connected to the 1 st and 2 nd cooling paths;
a radiator that cools the coolant;
the cooling liquid temperature detection part is arranged on the upstream side of the 1 st and 2 nd cooling paths of the circulating line relative to the radiator;
the temperature detection abnormality determination unit includes a switching element temperature rise value estimation unit that estimates, when the 1 st and 2 nd motors for which the command torque is supplied from the motor control unit are energized, temperature rise values as 1 st and 2 nd switching element temperature rise estimated values T1u and T2u, respectively, based on command values or detection values of currents for energizing the 1 st and 2 nd inverters, the temperature rise values being the temperature rise values of the switching elements in the 1 st and 2 nd temperature detection units being provided, respectively.
12. The motor-equipped drive control device according to claim 11, wherein the temperature detection abnormality determination unit determines whether or not differences calculated based on the following equations, respectively, are each within a predetermined normal range, and determines that abnormality occurs in the temperature detection unit when any two of the differences are not within the predetermined normal range, the temperature detection unit detecting a temperature that is included in common by the equations that calculate the two differences, the equations including:
Formula 4 (-Tw- (T1-T1 u) -), which is used for calculating the difference between the value obtained by subtracting the estimated value T1u of the 1 st switching element temperature rise from the 1 st temperature detection value T1 and the coolant temperature Tw detected by the coolant temperature detection unit;
equation 5 (-Tw- (T2-T2 u) -, which is used to calculate the difference between the value obtained by subtracting the estimated value T2u of the temperature rise of the 2 nd switching element from the 2 nd temperature detection value T2 and the coolant temperature Tw detected by the coolant temperature detection unit;
and a formula 6 (- (T1-T1 u) - (T2-T2 u) } i) for calculating a difference between a value obtained by subtracting the 1 st switching element temperature increase estimated value T1u from the 1 st temperature detected value T1 and a value obtained by subtracting the 2 nd switching element temperature increase estimated value T2u from the 2 nd temperature detected value T2.
13. The drive control device for a motor-equipped vehicle according to claim 7 or 8, wherein the cooling mechanism includes:
cooling circuits 1 and 2, the cooling circuits 1 and 2 flowing the cooling liquid to the inverters 1 and 2, respectively, the cooling circuits 1 and 2 being connected in series;
A pump for circulating the coolant through a circulation line connected to the 1 st and 2 nd cooling paths;
a radiator that cools the coolant;
the cooling liquid temperature detecting part is arranged at the downstream side of the 1 st and 2 nd cooling paths of the circulating line relative to the radiator;
the temperature detection abnormality determination unit includes:
a coolant temperature rise estimating unit that estimates, when the 1 st and 2 nd motors for which the motor control unit supplies the command torque are energized, the coolant temperature rise values of the 1 st and 2 nd inverters as 1 st and 2 nd coolant temperature rise estimated values Tw1u and Tw2u, respectively, based on a command value or a detection value of a current for energizing the 1 st and 2 nd inverters;
a switching element temperature rise value estimation unit that estimates, based on a command value or a detection value of a current flowing through the 1 st and 2 nd inverters, a temperature rise value of a switching element, which is the switching element provided with the 1 st temperature detection unit in the 1 st inverter located upstream of the circulation line with respect to the radiator, as 1 st and 2 nd switching element temperature rise estimated values T1u, T2u, respectively; and the switching element of the 2 nd inverter, which is located downstream of the circulation line with respect to the radiator, is provided with the 2 nd temperature detecting unit.
14. The motor-equipped vehicle drive control device according to claim 13, wherein the temperature detection abnormality determination unit determines whether or not differences calculated based on the following equations, respectively, are within a predetermined normal range, and determines that the temperature detection unit detects a temperature included in the equations for calculating the two differences in common when any two of the differences are not within the predetermined normal range, the equations including:
formula 7 (-Tw- (Tw 2u-Tw1 u) - (T1-T1 u) }) for calculating a difference between a value (T1-T1 u) obtained by subtracting the 1 st switching element temperature increase estimated value T1u from the 1 st temperature detected value T1 and a value (Tw-Tw 2u-Tw1 u) obtained by subtracting the 2 nd coolant temperature increase estimated value Tw2u and the 1 st coolant temperature increase estimated value Tw1u from the coolant temperature Tw detected by the coolant temperature detecting unit;
equation 8 (i.e., -Tw2u-Tw1 u) - (T2-T2 u-Tw1 u) for calculating a difference between a value (T2-T2 u-Tw1 u) obtained by subtracting the 1 st coolant temperature increase estimated value Tw1u and a value (Tw-Tw 2u-Tw1 u) obtained by subtracting the 2 nd coolant temperature increase estimated value Tw2u and the 1 st coolant temperature increase estimated value Tw1u from the 2 nd temperature detected value T2;
And a formula 9 (-between (T1-T1 u) and (T2-T2 u-Tw1 u) -), which is used for calculating a difference between a value (T1-T1 u) obtained by subtracting the 1 st estimated value of the temperature rise of the switching element T1u from the 1 st detected temperature value T1 and a value obtained by subtracting the 2 nd estimated value of the temperature rise of the switching element T2u from the 2 nd detected temperature value T2 and a value obtained by subtracting the 1 st estimated value of the temperature rise of the cooling liquid Tw1 u.
15. The drive control device for a motor-equipped vehicle according to claim 7 or 8, wherein the cooling mechanism includes:
cooling circuits 1 and 2, the cooling circuits 1 and 2 flowing the cooling liquid to the inverters 1 and 2, respectively, the cooling circuits 1 and 2 being connected in parallel;
a pump for circulating the coolant through a circulation line connected to the 1 st and 2 nd cooling paths;
a radiator that cools the coolant;
the cooling liquid temperature detecting part is arranged at the downstream side of the 1 st and 2 nd cooling paths of the circulating line relative to the radiator;
the temperature detection abnormality determination unit includes:
and a switching element temperature rise value estimation unit that estimates, when the 1 st and 2 nd motors for which the motor control unit supplies the command torque are energized, temperature rise values as 1 st and 2 nd switching element temperature rise estimated values T1u and T2u, respectively, based on command values or detection values of currents for energizing the 1 st and 2 nd inverters, the temperature rise values being the temperature rise values of the switching elements in which the 1 st and 2 nd temperature detection units are provided, respectively.
16. The drive control device for a motor-equipped vehicle according to claim 15, wherein the temperature detection abnormality determination unit determines whether or not differences calculated based on the following equations are each within a predetermined normal range, and determines that abnormality is generated in the temperature detection unit that detects a temperature that is included in common by the equation that calculates the two differences when any two of the differences are not within the predetermined normal range, the equation including:
formula 10 (-Tw- (Tw 1u+Tw2 u)/2- (T1-T1 u) -, which is a difference between a value (T1-T1 u) obtained by subtracting the estimated value T1u of the 1 st switching element temperature rise from the 1 st temperature detection value T1 and a value (-Tw- (Tw 1u+Tw2 u)/2 i) obtained by subtracting an average value of the estimated values Tw1u and Tw2u of the 1 st and 2 nd cooling paths from the coolant temperature Tw detected by the coolant temperature detection unit;
formula 11 (-Tw- (Tw 1u+Tw2 u)/2- (T2-T2 u) -which is a difference between a value obtained by subtracting the estimated value T2u of the 2 nd switching element temperature increase from the 2 nd temperature detection value T2 and a value obtained by subtracting an average value of the estimated values Tw1u and Tw2u of the 1 st and 2 nd cooling paths from the coolant temperature Tw detected by the coolant temperature detection unit () ((Tw- (Tw 1u+Tw2 u)/2);
And a 12 th equation (- (T1-T1 u) - (T2-T2 u) - ") for calculating a difference between a value obtained by subtracting the 1 st switching element temperature increase estimated value T1u from the 1 st temperature detected value T1 and a value obtained by subtracting the 2 nd switching element temperature increase estimated value T2u from the 2 nd temperature detected value T2.
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