JP2017127121A - Motor control device - Google Patents
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本発明は、インバータを用いたモータ制御装置に係り、特にモータ制御で用いられる各種センサや検出回路などの異常状態を検出する故障診断の技術に関する。 The present invention relates to a motor control device using an inverter, and more particularly to a failure diagnosis technique for detecting abnormal states of various sensors and detection circuits used in motor control.
インバータにおいては、モータのトルクを制御するためにモータ電流を制御している。このモータ電流の制御は、各種センサからの検出データを演算処理することで実現しており、電流の応答性が高いベクトル制御が広く採用されている。図３に示すように、ベクトル制御では、モータの磁極位置センサ１、直流電圧検出センサ２、交流電流検出センサ３ａ，３ｂ，３ｃ等の各種センサで検出したデータに基づいてモータの制御を行っている。 In the inverter, the motor current is controlled to control the torque of the motor. This motor current control is realized by performing arithmetic processing on detection data from various sensors, and vector control with high current responsiveness is widely adopted. As shown in FIG. 3, in the vector control, the motor is controlled based on data detected by various sensors such as the magnetic pole position sensor 1, the DC voltage detection sensor 2, and the AC current detection sensors 3a, 3b, 3c. Yes.
例えば、特許文献１には、モータ制御回路において、トルク指令、直流電圧検出値、速度検出値、電流検出値に基づいてパルス信号を演算し、このパルス信号に基づいてインバータのスイッチングを行い、ＰＭモータを制御することが記載されている。 For example, in Patent Document 1, in a motor control circuit, a pulse signal is calculated based on a torque command, a DC voltage detection value, a speed detection value, and a current detection value, and switching of an inverter is performed based on the pulse signal. Controlling the motor is described.
しかし、このようなベクトル制御においては、各種センサの検出信号が正常な場合は正しくモータの電流（または、トルク）を制御できるが、正常でない場合はトルク指令値とモータの発生トルクとの間に差異が生じて、モータの急加速や急減速が発生するおそれがある。 However, in such vector control, when the detection signals of various sensors are normal, the motor current (or torque) can be controlled correctly, but when it is not normal, it is between the torque command value and the generated torque of the motor. Differences may occur, causing sudden acceleration or deceleration of the motor.
そこで、ソフトウェアやハードウェアで各種センサやセンサからの出力信号を検出する回路（以下、単に検出回路という）について故障診断を行っているが、異常状態は天絡（検出信号が電源（＋）側と接触）、短絡（検出信号が短絡状態）、地絡（検出信号が電源（−）側と接触）、断線（検出信号が開放状態）および検出値不正（検出値の大きさが変動）がある。天絡、短絡、地絡および断線は検出値が最小または最大に張り付くため、正常な場合と比較して検出値が大きく異なり、故障診断は容易に行うことができる。 Therefore, fault diagnosis is performed for various sensors and circuits that detect output signals from the sensors (hereinafter simply referred to as detection circuits) with software or hardware. Contact), short circuit (detection signal is short-circuited), ground fault (detection signal is in contact with the power supply (-) side), disconnection (detection signal is open), and detection value incorrect (detection value fluctuates) is there. The detected values of the power supply, short circuit, ground fault, and disconnection stick to the minimum or maximum, so that the detection values are greatly different from those in the normal case, and the failure diagnosis can be easily performed.
しかし、検出値不正は、各種センサや検出回路が異常でも、検出値が不定であるために正常な検出値との差異が明確にならない場合もあり、異常状態の検出が確実にできない。 However, in the case of incorrect detection values, even if various sensors and detection circuits are abnormal, the detection values are indefinite, so the difference from the normal detection values may not be clear, and the abnormal state cannot be reliably detected.
このような場合、同じ事象のセンサを２重化（センサを２個取り付け）し、それぞれのセンサから出力される検出値の差異を監視することで異常を検出する技術がある。例えば、特許文献２に示される車両用制御装置では、第一のセンサの信号出力を入力する第一の処理装置と、第一のセンサと同じ事象を検出する第二のセンサの信号出力を入力する第二の処理装置を備え、第一の信号出力と第二の信号出力を照合することでセンサまたは処理装置の異常を判定する技術が開示されている。 In such a case, there is a technique for detecting an abnormality by duplicating sensors of the same event (attaching two sensors) and monitoring a difference in detection values output from each sensor. For example, in the vehicle control device disclosed in Patent Document 2, the first processing device that inputs the signal output of the first sensor and the signal output of the second sensor that detects the same event as the first sensor are input. There is disclosed a technique for determining abnormality of a sensor or a processing apparatus by comparing a first signal output and a second signal output.
特許文献２の技術では、同一事象のセンサおよび検出回路を二重化することで、検出不正の場合であっても異常検出の故障診断が可能である。しかしながら、センサおよび検出回路を二重化することで部品点数が増加しコストアップにつながっていた。また、センサや検出回路を二重化することにより設置スペースが増加してしまっていた。 With the technique of Patent Document 2, a fault diagnosis for abnormality detection can be performed even if detection is illegal by duplicating sensors and detection circuits for the same event. However, duplicating the sensor and detection circuit increases the number of parts, leading to an increase in cost. In addition, the installation space has been increased by duplicating sensors and detection circuits.
以上示したようなことから、 センサや検出回路での様々な異常状態の故障診断を可能とし、かつ、低コストで小型化が可能なモータ制御装置を提供することを課題となる。 As described above, it is an object to provide a motor control device that enables failure diagnosis of various abnormal states with sensors and detection circuits and that can be reduced in size at low cost.
本発明は、前記従来の問題に鑑み、案出されたもので、その一態様は、トルク指令値と回転速度検出値と直流電圧検出値とに基づいて、ｄ軸電流指令値とｑ軸電流指令値を算出する指令値変換部と、前記ｄ軸電流指令値とｄ軸電流検出値の偏差および前記ｑ軸電流指令値とｑ軸電流検出値との偏差に基づいて、ｄ軸電圧指令値とｑ軸電圧指令値を算出する電流制御部と、前記ｄ軸電圧指令値と前記ｑ軸電圧指令値をモータの磁極位置に基づいて３相の電圧指令値に変換する２相／３相座標変換部と、装置の異常を検出する故障診断回路と、前記３相の電圧指令値に基づいてオン・オフ制御するスイッチング素子と、直流電圧を交流電圧に変換する前記スイッチング素子を有するインバータと、を備え、前記インバータから出力する交流電圧によりモータの制御を行うモータ制御装置であって、前記故障診断回路は、予め実験で求めたｄ軸電圧予測値とｑ軸電圧予測値を格納したデータテーブルにより、前記指令値変換部で用いる前記トルク指令値と前記回転速度検出値と前記直流電圧検出値に基づいて、ｄ軸電圧予測値とｑ軸電圧予測値を導出し、前記ｄ軸電圧指令値と前記ｄ軸電圧予測値との偏差と、前記ｑ軸電圧指令値と前記ｑ軸電圧予測値との偏差と、のうち少なくとも何れか一方の偏差に基づいて装置の異常を検出することを特徴とする。 The present invention has been devised in view of the above-described conventional problems, and one aspect thereof is based on a torque command value, a rotational speed detection value, and a DC voltage detection value, and a d-axis current command value and a q-axis current. A command value converter for calculating a command value, a d-axis voltage command value based on a deviation between the d-axis current command value and the d-axis current detection value and a deviation between the q-axis current command value and the q-axis current detection value Current control unit for calculating the q-axis voltage command value, and two-phase / three-phase coordinates for converting the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value based on the magnetic pole position of the motor A converter, a failure diagnosis circuit that detects an abnormality of the device, a switching element that performs on / off control based on the three-phase voltage command value, and an inverter that includes the switching element that converts a DC voltage into an AC voltage; AC voltage output from the inverter The failure diagnosis circuit uses the command value conversion unit based on a data table storing a predicted d-axis voltage value and a predicted q-axis voltage value obtained in advance through experiments. Based on the torque command value, the rotational speed detection value, and the DC voltage detection value, a d-axis voltage predicted value and a q-axis voltage predicted value are derived, and a deviation between the d-axis voltage command value and the d-axis voltage predicted value is derived. And an abnormality of the apparatus is detected based on at least one of the deviation between the q-axis voltage command value and the q-axis voltage predicted value.
また、その一態様として、前記ｄ軸電圧指令値と前記ｄ軸電圧予測値との偏差と、前記ｑ軸電圧指令値と前記ｑ軸電圧予測値との偏差と、が予め設定した閾値よりも大きい場合異常と検出することを特徴とする。 Further, as one aspect thereof, a deviation between the d-axis voltage command value and the d-axis voltage predicted value and a deviation between the q-axis voltage command value and the q-axis voltage predicted value are more than a preset threshold value. When it is large, it is detected as abnormal.
本発明によれば、センサや検出回路での様々な異常状態の故障診断を可能とし、かつ、低コストで小型化が可能なモータ制御装置を提供することを可能となる。 ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the motor control apparatus which enables failure diagnosis of various abnormal states with a sensor and a detection circuit, and can be reduced in size at low cost.
以下、本願発明に係るモータ制御装置における実施形態を図１，図２に基づいて詳述する。 Hereinafter, an embodiment of the motor control device according to the present invention will be described in detail with reference to FIGS.
［実施形態］
図１に本実施形態のモータ制御装置の構成を示す。４はモータ制御装置であり、インバータ４ａと制御部４ｂとを有している。モータ制御装置４の直流側には蓄電池５が接続され、交流側にはモータ（例えば、ＰＭモータ（Ｐｅｒｍｅｎｅｎｔ Ｍａｇｎｅｔ Ｍｏｔｏｒ））６が接続されている。
[Embodiment]
FIG. 1 shows the configuration of the motor control device of this embodiment. Reference numeral 4 denotes a motor control device, which includes an inverter 4a and a control unit 4b. A storage battery 5 is connected to the DC side of the motor control device 4, and a motor (for example, PM motor (Permanent Magnet Motor)) 6 is connected to the AC side.
また、インバータ４ａの直流母線には直流電圧検出値を検出する直流電圧検出センサ２、インバータ４ａの交流母線のＵ相およびＷ相には交流電流検出値を検出する交流電流検出センサ３ａ，３ｃ、モータ６にはモータ６の回転速度検出値を検出する磁極位置センサ１が設けられている。 Further, a DC voltage detection sensor 2 for detecting a DC voltage detection value is applied to the DC bus of the inverter 4a, and AC current detection sensors 3a, 3c for detecting an AC current detection value are applied to the U phase and the W phase of the AC bus of the inverter 4a. The motor 6 is provided with a magnetic pole position sensor 1 that detects a rotation speed detection value of the motor 6.
制御部４ｂは、装置外部からトルク指令値、直流電圧検出センサ２から直流電圧検出値、交流電流検出センサ３ａ，３ｃから交流電流検出値、磁極位置センサ１から回転速度検出値を入力する。 The controller 4b receives a torque command value from the outside of the apparatus, a DC voltage detection value from the DC voltage detection sensor 2, an AC current detection value from the AC current detection sensors 3a and 3c, and a rotation speed detection value from the magnetic pole position sensor 1.
制御部４ｂは、これらトルク指令値と各種センサ（磁極位置センサ１と直流電圧検出センサ２と交流電流検出センサ３ａ，３ｃ）からの検出値に基づいたベクトル制御によって所望の電圧指令値を図示しないゲート駆動回路に出力している。 The controller 4b does not show a desired voltage command value by vector control based on these torque command values and detected values from various sensors (the magnetic pole position sensor 1, the DC voltage detection sensor 2, and the AC current detection sensors 3a and 3c). Output to the gate drive circuit.
ゲート駆動回路では、入力した電圧指令値に基づいたゲート信号をインバータ４ａに出力してスイッチング素子（図１の例ではＩＧＢＴ）をオン・オフ制御する。 In the gate drive circuit, a gate signal based on the input voltage command value is output to the inverter 4a to control on / off of the switching element (IGBT in the example of FIG. 1).
そして、モータ制御装置４は、スイッチング素子を有するインバータ４ａにより、蓄電池５の直流電圧を所望の交流電圧に変換しモータ６に出力することでモータ制御を行っている。 The motor control device 4 performs motor control by converting the DC voltage of the storage battery 5 into a desired AC voltage and outputting it to the motor 6 by an inverter 4 a having a switching element.
なお、図１では、モータ制御装置４の直流側に蓄電池５が接続されているが、交流電源から整流器による順変換で直流電力を得る構成でもよい。また、交流電流検出センサ３ａ，３ｃはＵ相とＷ相の２相から演算によって３相の交流電流を得ているが、Ｕ相、Ｖ相およびＷ相の各相に電流検出器を設けて各相の電流検出を行う構成でもよい。 In FIG. 1, the storage battery 5 is connected to the DC side of the motor control device 4, but a configuration in which DC power is obtained from an AC power source by forward conversion using a rectifier may be used. The AC current detection sensors 3a and 3c obtain a three-phase AC current from the two phases of the U phase and the W phase by calculation. A current detector is provided for each phase of the U phase, the V phase, and the W phase. It may be configured to detect current of each phase.
次に、図２に基づいて、制御部４ｂの詳細を説明する。制御部４ｂは、ベクトル制御回路７と故障診断回路８とを有している。 Next, based on FIG. 2, the detail of the control part 4b is demonstrated. The control unit 4 b includes a vector control circuit 7 and a failure diagnosis circuit 8.
ベクトル制御回路７では、指令値変換部９において、トルク指令値Ｔｒｅｆ、直流電圧検出値Ｖｄｃｄｅｔおよび回転速度検出値Ｎｄｅｔを入力し、ｄ軸電流指令値Ｉｄｒｅｆとｑ軸電流指令値Ｉｑｒｅｆを生成する。 In the vector control circuit 7, the command value converter 9 receives the torque command value Tref, the DC voltage detection value Vdcdet, and the rotation speed detection value Ndet, and generates a d-axis current command value Idref and a q-axis current command value Iqref.
３相／２相座標変換器１１では、各相の電流検出値Ｉｕ，Ｉｖ，Ｉｗを回転角度検出値θｄｅｔに基づいて、ｄ軸電流検出値Ｉｄｄｅｔとｑ軸電流検出値Ｉｑｄｅｔに変換している。 In the three-phase / two-phase coordinate converter 11, the current detection values Iu, Iv, Iw of each phase are converted into a d-axis current detection value Iddet and a q-axis current detection value Iqdet based on the rotation angle detection value θdet. .
そして、減算器１０ａにおいて、ｄ軸電流指令値Ｉｄｒｅｆとｄ軸電流検出値Ｉｄｄｅｔとの偏差信号を出力し、減算器１０ｂにおいて、ｑ軸電流指令値Ｉｑｒｅｆとｑ軸電流検出値Ｉｑｄｅｔとの偏差信号を出力する。 The subtractor 10a outputs a deviation signal between the d-axis current command value Idref and the d-axis current detection value Iddet, and the subtractor 10b outputs a deviation signal between the q-axis current command value Iqref and the q-axis current detection value Iqdet. Is output.
電流制御部１２ａ、および、電流制御部１２ｂは、前記偏差信号を入力して、ｄ軸電圧指令値Ｖｄｒｅｆとｑ軸電圧指令値Ｖｑｒｅｆを求めている。また、２相／３相座標変換器１３では、直交２軸のｄ軸電圧指令値Ｖｄｒｅｆとｑ軸電圧指令値Ｖｑｒｅｆを３相の電圧指令値Ｖｕ，Ｖｖ，Ｖｗに変換している。 The current control unit 12a and the current control unit 12b receive the deviation signal and obtain the d-axis voltage command value Vdref and the q-axis voltage command value Vqref. The 2-phase / 3-phase coordinate converter 13 converts the orthogonal 2-axis d-axis voltage command value Vdref and the q-axis voltage command value Vqref into 3-phase voltage command values Vu, Vv, and Vw.
以上のベクトル制御回路７は図３に示す従来技術と同様である。本実施形態の制御部４ｂでは、従来技術の制御部に故障診断回路８を追加している。 The above vector control circuit 7 is the same as the prior art shown in FIG. In the control unit 4b of this embodiment, a failure diagnosis circuit 8 is added to the control unit of the prior art.
まず、故障診断回路８には、トルク指令値Ｔｒｅｆ、直流電圧検出値Ｖｄｃｄｅｔ、および、回転速度検出値Ｎｄｅｔの入力パラメータから予め実験で求めたｄ軸電圧予測値Ｖｄｒｅｆ’とｑ軸電圧予測値Ｖｑｒｅｆ’を格納したデータテーブル１４ａ，１４ｂが備えられている。 First, the failure diagnosis circuit 8 includes a d-axis voltage predicted value Vdref ′ and a q-axis voltage predicted value Vqref obtained in advance by experiments from input parameters of the torque command value Tref, the DC voltage detection value Vdcdet, and the rotation speed detection value Ndet. Data tables 14a and 14b storing 'are provided.
そして、ベクトル制御回路７と同じ信号を分岐して同じタイミングでトルク指令値Ｔｒｅｆ，直流電圧検出値Ｖｄｃｄｅｔ、および、回転速度検出値Ｎｄｅｔを故障診断回路８にも入力し、前記データテーブル１４ａ，１４ｂからｄ軸電圧予測値Ｖｄｒｅｆ’とｑ軸電圧予測値Ｖｑｒｅｆ’を出力する。減算器１５ａ，１５ｂにおいて、ベクトル制御回路７で求めたｄ軸電圧指令値Ｖｄｒｅｆ，ｑ軸電圧指令値Ｖｑｒｅｆと、ｄ軸電圧予測値Ｖｄｒｅｆ’，ｑ軸電圧予測値Ｖｑｒｅｆ’との偏差を求め、ｄ軸電圧差分検出Ｖｄおよびｑ軸電圧差分検出Ｖｑの少なくとも何れか一方の偏差が所定の闘値以上の場合に「異常」の信号を出力する。 Then, the same signal as that of the vector control circuit 7 is branched, and the torque command value Tref, the DC voltage detection value Vdcdet, and the rotation speed detection value Ndet are also input to the failure diagnosis circuit 8 at the same timing, and the data tables 14a, 14b. To output a predicted d-axis voltage value Vdref ′ and a predicted q-axis voltage value Vqref ′. In the subtracters 15a and 15b, deviations between the d-axis voltage command value Vdref and q-axis voltage command value Vqref obtained by the vector control circuit 7 and the d-axis voltage predicted value Vdref ′ and the q-axis voltage predicted value Vqref ′ are obtained. When the deviation of at least one of the d-axis voltage difference detection Vd and the q-axis voltage difference detection Vq is equal to or greater than a predetermined threshold value, an “abnormal” signal is output.
正常状態では、各種センサや検出回路が正常であるため、ベクトル制御回路のｄ軸電圧指令値Ｖｄｒｅｆとｑ軸電圧指令値Ｖｑｒｅｆは、故障診断回路のｄ軸電圧予測値Ｖｄｒｅｆ’とｑ軸電圧予測値Ｖｑｒｅｆ’とほぼ同じ値となる。 Since various sensors and detection circuits are normal in the normal state, the d-axis voltage command value Vdref and the q-axis voltage command value Vqref of the vector control circuit are the d-axis voltage predicted value Vdref ′ and the q-axis voltage prediction of the failure diagnosis circuit. The value is almost the same as the value Vqref ′.
しかし、各種センサや検出回路が異常な時は、ベクトル制御回路７のｄ軸電圧指令値Ｖｄｒｅｆとｑ軸電圧指令値Ｖｑｒｅｆは、故障診断回路８のｄ軸電圧予測値Ｖｄｒｅｆ’とｑ軸電圧予測値Ｖｑｒｅｆ’と異なる値となり、故障診断回路８の減算器１５ａ，１５ｂから出力される偏差が所定の閾値以上となる。 However, when various sensors and detection circuits are abnormal, the d-axis voltage command value Vdref and the q-axis voltage command value Vqref of the vector control circuit 7 are the d-axis voltage predicted value Vdref ′ and the q-axis voltage prediction of the failure diagnosis circuit 8. The value is different from the value Vqref ′, and the deviations output from the subtracters 15a and 15b of the failure diagnosis circuit 8 are equal to or greater than a predetermined threshold value.
この偏差を常に監視し、偏差が閾値以上になると異常と判断して故障表示、または、故障通知をオペレータに行うことで、センサや検出回路を二重化することなく、検出値が不定な異常であっても診断が可能となる。 This deviation is constantly monitored, and if the deviation exceeds the threshold value, it is judged as abnormal, and a fault display or fault notification is given to the operator, so that the detected value is an indefinite abnormality without duplicating the sensor and detection circuit. Even diagnosis is possible.
また、本実施形態では、直流電圧検出センサ２、複数の交流電流検出センサ３ａ，３ｂ，３ｃおよび磁極位置センサ１、並びにこれら各センサの検出回路の異常を一つの故障診断回路で実現でき、各センサや各検出回路に故障診断回路を有することなく、故障診断回路が複雑化しない。 In the present embodiment, the DC voltage detection sensor 2, the plurality of AC current detection sensors 3a, 3b, 3c, the magnetic pole position sensor 1, and the abnormality of the detection circuit of each of these sensors can be realized by one failure diagnosis circuit. The failure diagnosis circuit is not complicated without having the failure diagnosis circuit in the sensor or each detection circuit.
さらに、駆動するモータが永久磁石式同期電動機の場合、減磁の異常が発生した場合も同様に、ベクトル制御回路７のｄ軸電圧指令値Ｖｄｒｅｆとｑ軸電圧指令値Ｖｑｒｅｆに対して、故障診断回路のｄ軸電圧予測値Ｖｄｒｅｆ’とｑ軸電圧予測値Ｖｑｒｅｆ’が異なる値となるため、減磁による異常検出も可能となる。 Further, when the motor to be driven is a permanent magnet type synchronous motor, a failure diagnosis is similarly performed on the d-axis voltage command value Vdref and the q-axis voltage command value Vqref of the vector control circuit 7 when a demagnetization abnormality occurs. Since the d-axis voltage predicted value Vdref ′ and the q-axis voltage predicted value Vqref ′ of the circuit are different from each other, it is possible to detect an abnormality due to demagnetization.
また、本実施形態のモータ制御装置では、センサや検出回路などの部品を追加することなく、様々な異常状態の検出が可能となり、部品点数が増加することを抑制できるため装置の小型化やコストダウンが可能となる。また、駆動するモータが永久磁石式同期電動機の場合、減磁の異常検出も出来る。 Further, in the motor control device of the present embodiment, various abnormal states can be detected without adding components such as a sensor and a detection circuit, and the increase in the number of components can be suppressed, thereby reducing the size and cost of the device. Down is possible. Further, when the motor to be driven is a permanent magnet type synchronous motor, it is possible to detect abnormality of demagnetization.
以上、本発明において、記載された具体例に対してのみ詳細に説明したが、本発明の技術思想の範囲で多彩な変形および修正が可能であることは、当業者にとって明白なことであり、このような変形および修正が特許請求の範囲に属することは当然のことである。 Although the present invention has been described in detail only for the specific examples described above, it is obvious to those skilled in the art that various changes and modifications are possible within the scope of the technical idea of the present invention. Such variations and modifications are naturally within the scope of the claims.
Ｔｒｅｆ…トルク指令値
Ｎｄｅｔ…回転速度検出値
Ｖｄｃｄｅｔ…直流電圧検出値
Ｉｄｒｅｆ…ｄ軸電流指令値
Ｉｑｒｅｆ…ｑ軸電流指令値
Ｉｄｄｅｔ…ｄ軸電流検出値
Ｉｑｄｅｔ…ｑ軸電流検出値
Ｖｄｒｅｆ…ｄ軸電圧指令値
Ｖｑｒｅｆ…ｑ軸電圧指令値
Ｖｕ，Ｖｖ，Ｖｗ…三相の電圧指令値
Ｖｄｒｅｆ’…ｄ軸電圧予測値
Ｖｑｒｅｆ’…ｑ軸電圧予測値
４…モータ制御装置
８…故障診断回路
９…電流制御部
１２ａ，１２ｂ…電流制御部
１３…２相／３相座標変換部
１４ａ，１４ｂ…データテーブル
Tref ... Torque command value Ndet ... Rotational speed detection value Vdcdet ... DC voltage detection value Idref ... d-axis current command value Iqref ... q-axis current command value Iddet ... d-axis current detection value Iqdet ... q-axis current detection value Vdref ... d-axis voltage Command value Vqref ... q-axis voltage command value Vu, Vv, Vw ... Three-phase voltage command value Vdref '... d-axis voltage prediction value Vqref' ... q-axis voltage prediction value 4 ... Motor controller 8 ... Fault diagnosis circuit 9 ... Current Control unit 12a, 12b ... Current control unit 13 ... 2-phase / 3-phase coordinate conversion unit 14a, 14b ... Data table
Claims (2)
前記ｄ軸電流指令値とｄ軸電流検出値の偏差および前記ｑ軸電流指令値とｑ軸電流検出値との偏差に基づいて、ｄ軸電圧指令値とｑ軸電圧指令値を算出する電流制御部と、
前記ｄ軸電圧指令値と前記ｑ軸電圧指令値をモータの磁極位置に基づいて３相の電圧指令値に変換する２相／３相座標変換部と、
装置の異常を検出する故障診断回路と、
前記３相の電圧指令値に基づいてオン・オフ制御するスイッチング素子と、
直流電圧を交流電圧に変換する前記スイッチング素子を有するインバータと、
を備え、前記インバータから出力する交流電圧によりモータの制御を行うモータ制御装置であって、
前記故障診断回路は、
予め実験で求めたｄ軸電圧予測値とｑ軸電圧予測値を格納したデータテーブルにより、前記指令値変換部で用いる前記トルク指令値と前記回転速度検出値と前記直流電圧検出値に基づいて、ｄ軸電圧予測値とｑ軸電圧予測値を導出し、
前記ｄ軸電圧指令値と前記ｄ軸電圧予測値との偏差と、前記ｑ軸電圧指令値と前記ｑ軸電圧予測値との偏差と、のうち少なくとも何れか一方の偏差に基づいて装置の異常を検出することを特徴とするモータ制御装置。 A command value conversion unit that calculates a d-axis current command value and a q-axis current command value based on the torque command value, the rotation speed detection value, and the DC voltage detection value;
Current control for calculating a d-axis voltage command value and a q-axis voltage command value based on a deviation between the d-axis current command value and the detected d-axis current value and a deviation between the q-axis current command value and the q-axis current detected value And
A two-phase / three-phase coordinate converter for converting the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value based on the magnetic pole position of the motor;
A fault diagnosis circuit for detecting an abnormality of the device;
A switching element that performs on / off control based on the three-phase voltage command value;
An inverter having the switching element for converting a DC voltage into an AC voltage;
A motor control device for controlling the motor with an AC voltage output from the inverter,
The fault diagnosis circuit is
Based on the torque command value, the rotation speed detection value, and the DC voltage detection value used in the command value conversion unit, based on a data table storing the d-axis voltage prediction value and the q-axis voltage prediction value obtained in advance by experiments, D-axis voltage predicted value and q-axis voltage predicted value are derived,
The apparatus malfunctions based on at least one of a deviation between the d-axis voltage command value and the d-axis voltage predicted value and a deviation between the q-axis voltage command value and the q-axis voltage predicted value. The motor control device characterized by detecting.
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| JP2019022403A (en) * | 2017-07-21 | 2019-02-07 | 株式会社東芝 | Evaluation device and evaluation method for inverter circuit for electric motor |
| CN112415379A (en) * | 2019-08-20 | 2021-02-26 | 联合汽车电子有限公司 | Method for diagnosing motor fault |
| KR20220080580A (en) * | 2020-12-07 | 2022-06-14 | 주식회사 현대케피코 | Method and apparatus for detecting inverter fault |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019022403A (en) * | 2017-07-21 | 2019-02-07 | 株式会社東芝 | Evaluation device and evaluation method for inverter circuit for electric motor |
| CN112415379A (en) * | 2019-08-20 | 2021-02-26 | 联合汽车电子有限公司 | Method for diagnosing motor fault |
| KR20220080580A (en) * | 2020-12-07 | 2022-06-14 | 주식회사 현대케피코 | Method and apparatus for detecting inverter fault |
| KR102549166B1 (en) * | 2020-12-07 | 2023-06-30 | 주식회사 현대케피코 | Method and apparatus for detecting inverter fault |
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