WO2013153653A1 - レゾルバ装置、モータ制御装置、および、モータ制御方法 - Google Patents
レゾルバ装置、モータ制御装置、および、モータ制御方法 Download PDFInfo
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- WO2013153653A1 WO2013153653A1 PCT/JP2012/060025 JP2012060025W WO2013153653A1 WO 2013153653 A1 WO2013153653 A1 WO 2013153653A1 JP 2012060025 W JP2012060025 W JP 2012060025W WO 2013153653 A1 WO2013153653 A1 WO 2013153653A1
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- resolver
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- area
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- 238000000034 method Methods 0.000 title claims description 16
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 230000005856 abnormality Effects 0.000 claims abstract description 36
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 230000005284 excitation Effects 0.000 description 15
- 235000012489 doughnuts Nutrition 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 101000685663 Homo sapiens Sodium/nucleoside cotransporter 1 Proteins 0.000 description 1
- 101000821827 Homo sapiens Sodium/nucleoside cotransporter 2 Proteins 0.000 description 1
- 101000822028 Homo sapiens Solute carrier family 28 member 3 Proteins 0.000 description 1
- 241001197082 Knodus beta Species 0.000 description 1
- 102100023116 Sodium/nucleoside cotransporter 1 Human genes 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2046—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable ferromagnetic element, e.g. a core
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
Definitions
- the present invention relates to a resolver device, a motor control device, and a motor control method, and in particular, detects an abnormality of a resolver that outputs a sine signal representing sin ⁇ and a cosine signal representing cos ⁇ according to the rotation angle ⁇ of a rotating body.
- the present invention relates to a resolver device, a motor control device using the resolver device, and a motor control method.
- Patent Document 1 For example, an apparatus described in Patent Document 1 has been proposed as a conventional resolver abnormality detection apparatus.
- the abnormality detection device described in Patent Document 1 calculates sin 2 ⁇ + cos 2 ⁇ based on a sine signal and a cosine signal, and when the value is out of a predetermined normal range, an abnormality occurs in the resolver. Judge as a thing.
- the present invention has been made to solve such problems, and it is possible to determine whether or not the resolver has returned to normal after detecting an abnormality of the resolver, a resolver device, a motor control device, and The purpose is to obtain a motor control method.
- the present invention determines a resolver that outputs at least one of a sine signal and a cosine signal according to the rotation angle of a rotating body as a detection value, and determines whether the detection value is within a predetermined first normal range. And an area detecting section for dividing the first normal range into a plurality of areas, and a detection value within a predetermined second normal range, and It is determined in which area of the plurality of areas in the first normal range divided by the area dividing unit the detected value is included, and that the detected value exists in a predetermined number of areas
- the resolver is determined to be normal after the area determiner determines that the resolver is normal when the area is detected, and the resolver is determined to be normal by the area determiner after the abnormality determiner determines that the resolver is normal.
- a resolver apparatus characterized by comprising a determining restoration determination unit to have always returned.
- the present invention determines a resolver that outputs at least one of a sine signal and a cosine signal according to the rotation angle of a rotating body as a detection value, and determines whether the detection value is within a predetermined first normal range. And an area detecting section for dividing the first normal range into a plurality of areas, and a detection value within a predetermined second normal range, and It is determined in which area of the plurality of areas in the first normal range divided by the area dividing unit the detected value is included, and that the detected value exists in a predetermined number of areas
- the resolver is determined to be normal after the area determiner determines that the resolver is normal when the area is detected, and the resolver is determined to be normal by the area determiner after the abnormality determiner determines that the resolver is normal. But Since the resolver apparatus is characterized by including a return determination unit that determines that the normal return has occurred, it is possible to determine whether or not the resolver has returned to normal after detecting an abnormality of the resolver. Drive control of the
- Embodiment 1 of this invention It is a general view of the apparatus in Embodiment 1 of this invention. It is a signal waveform diagram of the resolver in Embodiment 1 of this invention. It is a figure which shows the normal range of the resolver in Embodiment 1 of this invention, area
- FIG. 1 is a diagram showing a configuration of a motor control device according to Embodiment 1 of the present invention.
- a motor 4 is taken as an example of a rotating body.
- the motor control device includes a resolver device 14 and controls driving of a motor 4 (rotary body) to be controlled.
- the motor control device uses the resolver device 14 as means for detecting the rotation of the output shaft of the motor 4.
- the motor 4 is configured of, for example, a three-phase brushless motor.
- the motor 4 and the motor control device are mounted on a vehicle such as a car.
- the motor control device comprises a drive circuit 3, a vehicle sensor group 2, a microcomputer (hereinafter referred to as a microcomputer) 1, and a resolver device 14. ing.
- the drive circuit 3 outputs a control signal to the motor 4. Since the motor 4 has three phases, the drive circuit 3 has three switching elements in each of the upper arm and the lower arm, and a total of six switching elements are included.
- the switching elements of the upper arm and the switching elements of the lower arm are respectively connected in series at 1: 1, and a total of three series bodies are formed.
- the microcomputer 1 calculates a control amount to be output to the drive circuit 3.
- the vehicle sensor group 2 includes a plurality of sensors, detects the state of the vehicle, and inputs vehicle state information to the microcomputer 1 as input information.
- the resolver device 14 is provided in the motor control device.
- the resolver device 14 includes a sensor unit 5 (resolver), a signal circuit 13, and the microcomputer 1.
- sensor unit 5 (resolver) detects the rotation angle of motor 4 and the rotation speed of motor 4 to detect the control timing of drive circuit 3, and transmits these pieces of information to microcomputer 1. ing.
- the sensor unit 5 (resolver) is provided in the vicinity of the motor 4.
- the sensor unit 5 (resolver) includes a rotor 9 that rotates in synchronization with the output shaft of the motor 4, an excitation coil 10, and a sine wave coil 11 that outputs a sine signal (sin ⁇ ) according to the rotation angle ⁇ of the rotor 9.
- a cosine wave coil 12 for outputting a cosine signal (cos ⁇ ) according to the rotation angle ⁇ of the rotor 9.
- the rotor 9 has four protrusions.
- the excitation signal applied to the excitation coil 10 generates a signal in the sine wave coil 11 and the cosine wave coil 12 which are transformer coupled via the projection of the rotor 9.
- the signal circuit 13 includes an excitation circuit 6 for driving the excitation coil 10, an interface circuit 7 for shaping a sine signal output from the sine wave coil 11, and an interface circuit for shaping a cosine signal output from the cosine wave coil 12. And 8 are included.
- the excitation circuit 6 outputs an excitation signal based on the signal from the microcomputer 1.
- the sine signal and the cosine signal detected by the sine wave coil 11 and the cosine wave coil 12 are input to the microcomputer 1 through the interface circuits 7 and 8, respectively.
- FIG. 2 shows each signal of the resolver device 14.
- (a) is an excitation waveform of an excitation signal output from the excitation circuit 6, and drives the excitation coil 10 at a predetermined frequency and amplitude.
- (B) is a sine wave of the sine signal which the sine wave coil 11 outputs.
- (C) is a cosine wave of a cosine signal output from the cosine wave coil 12.
- the rotor 9 rotates in synchronization with the output shaft of the motor 4.
- the rotation of the rotor 9 generates a sine wave shown in (b) and a cosine wave shown in (c), and the microcomputer 1 reads the peak values of the sine wave and the cosine wave, and the microcomputer 1 based on those peak values.
- the rotation angle ⁇ of the motor 4 is calculated by calculating the tangent angle (tan). Since the sine wave and the cosine wave are 90 degrees out of phase, theoretically, the following equation (1) holds.
- K is a constant.
- the sensor unit 5 If the sum of the square value of the sine signal and the square value of the cosine signal takes a value within the range of K ⁇ ⁇ as shown in the following equation (2), the sensor unit 5 (resolver 5 (resolver It is judged that it is normal. On the other hand, if the sum of the square value of the sine signal and the square value of the cosine signal takes a value outside the range of K ⁇ ⁇ as shown in the following equation (2), it is determined that the sensor unit 5 (resolver) is abnormal Do. The value of ⁇ is determined as appropriate.
- FIG. 3 shows three concentric circles 22 to 24 centered on the intersection point (origin) of the X axis (20) and the Y axis (21).
- the detection signals of the sine wave coil 11 and the cosine wave coil 12 are on a circle (22), and indicate the K line of the above equation (1).
- the small circle (23) inside the circle (22) and the large circle (24) outside the circle (22) are the range where the sensor unit 5 (resolver) can be considered normal (hereinafter referred to as the normal range) And the difference with the ideal circle (22) is ⁇ . If the detection signal of the sensor unit 5 (resolver) is normal, the detection signal falls within the normal range of the donut shape between the small circle (23) and the great circle (24).
- the normal range of this donut shape can be divided into a plurality of areas. For example, in the case of division by the X axis (20) and the Y axis (21), the normal range is divided into four regions. When dividing lines 25 and 26 (45 degree line) are further added to the X axis (20) and the Y axis (21), the normal range is divided into eight areas.
- the counter value of the counter CNTi in each area is sequentially added from the values of the detection signals of the sine wave coil 11 and the cosine wave coil 12, and when it reaches a predetermined value, for example, all the counter values are 2 or more
- the microcomputer 1 determines that the sensor unit 5 (resolver) has returned to normal.
- the microcomputer 1 merely detects the detection signals of the sine wave coil 11 and the cosine wave coil 12 within the normal range, and does not return to the normal state, but the detection signals thereof.
- the trajectory taken (the number of times of entry into each area) is also checked to determine the normal return.
- FIG. 3 an example of dividing the normal range of the donut shape by the predetermined values (X-axis 20, Y-axis 21, division lines 25 and 26) set for each of the sine signal and cosine signal is shown.
- the present invention is not limited to this case, and the normal range of the donut shape may be divided only by the predetermined value set for either one of the sine signal and the cosine signal.
- FIGS. 4 and 5 are flowcharts showing the flow of the microcomputer 1.
- FIG. 4 shows a schematic flow.
- the port of the microcomputer 1, the RAM, etc. are initialized in step S1.
- various information is input.
- This information includes information from the vehicle sensor group 2 and information from the sensor unit 5 (resolver).
- the signal of the sensor unit 5 (resolver) includes the values of the sine signal and the cosine signal of the sine wave coil 11 and the cosine wave coil 12.
- step S3 the abnormality determination of the sensor unit 5 (resolver) and the check of normal return are performed. This method will be described later.
- step S4 an excitation signal of, for example, 10 KHz is output to the excitation coil 10 of the sensor unit 5 (resolver).
- step S5 the control amount is calculated based on the information from the vehicle sensor group 2 obtained in step S2, and a control signal for rotating the motor 4 is output to the drive circuit 3.
- step S6 the process waits until a predetermined time passes, and returns to step S2 again after the predetermined time passes. Thus, the processes from step S2 to step S6 are periodically repeated.
- step S3 of FIG. 4 determination of abnormality of the sensor unit 5 (resolver) and determination of normal return
- step S11 it is checked whether the abnormality flag FLG is set.
- the abnormality flag FLG is set when an abnormality occurs in the sensor unit 5 (resolver). If not set (No), that is, if the sensor unit 5 (resolver) is not abnormal, in step S12, the value of ANS obtained in step S10 is smaller than a predetermined value (K + ⁇ ) indicating the upper limit of the normal range It is determined whether or not.
- step S13 determines whether the value of ANS is larger than a predetermined value (K ⁇ ) indicating the lower limit of the normal range.
- K ⁇ a predetermined value
- step S14 the counter CNTa (abnormal counter (abnormal counter) ) And all counters CNTi (normal counters) are reset and terminated.
- step S12 If not (No) in step S12 or step S13, the detected value (sin ⁇ , cos ⁇ ) of the sensor unit 5 (resolver) exceeds the normal range, so in step S15 the counter value of the counter CNTa (abnormality counter) Add 1 to.
- step S16 it is determined whether the counter value exceeds a predetermined value L. If it exceeds the predetermined value L (Yes), in step S17, the sensor unit 5 (resolver) determines that it is abnormal, and sets the abnormality flag FLG (that is, sets the value of the abnormality flag FLG to 1). On the other hand, when the predetermined value L is not exceeded (No), each process is ended without doing anything.
- the sensor unit 5 when the number of times when it is determined that the detection value (sin ⁇ , cos ⁇ ) of the sensor unit 5 (resolver) is out of the normal range continuously exceeds L times, the sensor It is determined that an abnormality has occurred in part 5 (resolver).
- the value of L is appropriately preset to an arbitrary value of 1 or more.
- the processing up to this point is processing for determining whether or not there is an abnormality in the sensor unit 5 (resolver). Therefore, the processing in steps S10 to S17 determines the presence or absence of an abnormality of the sensor unit 5 (resolver) by determining whether the detected value of the sensor unit 5 (resolver) is within the predetermined normal range. It constitutes an abnormality detection unit.
- step S18 If it is determined in step S11 that the abnormality flag FLG is set (Yes), it is determined in step S18 whether the value of ANS obtained in step S10 is smaller than a predetermined value (K + ⁇ ) indicating the upper limit of the normal range. Determine if
- ⁇ is a preset value. ⁇ may be the same as or different from the value of ⁇ used in steps S12 and S13.
- step S19 If ANS is smaller than the predetermined value (K + ⁇ ) (Yes), it is determined in step S19 whether the value of ANS is larger than the predetermined value (K ⁇ ) indicating the lower limit of the normal range.
- a region dividing unit that divides the first normal range (K- ⁇ ⁇ ANS ⁇ K + ⁇ ) into a plurality of regions and a detection value of the sensor unit 5 (resolver) is the second normal In the range (K- ⁇ ⁇ ANS ⁇ K + ⁇ ), and in any one of a plurality of regions of the first normal range (K- ⁇ ⁇ ANS ⁇ K + ⁇ ) divided by the region division part
- An area determination unit is configured to determine whether the sensor unit 5 (resolver) is normal when it is determined whether a detection value has been entered and it is detected that the detection value is present in a predetermined number of areas.
- step S23 If it is determined in step S23 that all the counters CNTi exceed the predetermined value M (Yes), the abnormality flag FLG is reset for the first time in step S24 (ie, the abnormality flag FLG is set to 0). It is determined that 5 (resolver) has returned to normal. Further, the counter CNTa for abnormality detection is also reset. On the other hand, when the counter value of at least one of all the counters CNTi does not exceed the predetermined value M (No) in step S23, since it can not be determined as normal return, the process ends without performing any processing. Steps S23 and S24 constitute a return determination unit.
- the detection value of the sensor unit 5 continuously exists in the normal range, and further, the entire area in FIG. 3 (or a plurality of predetermined areas in FIG. 3) Are present multiple times (M + 1 times), and for the first time, it is determined to be a return to normal.
- M + 1 times multiple times
- the normal range (K- ⁇ ⁇ ANS ⁇ K + ⁇ ) for abnormality determination in steps S12 and S13 is different from the normal range (K- ⁇ ⁇ ANS ⁇ K + ⁇ ) for normal return determination in steps S18 and S19.
- the normal range for abnormality determination may be larger than the normal range for normal return determination, and may have hysteresis.
- ⁇ and ⁇ in FIG. 5 are set to satisfy ⁇ > ⁇ . In this way, by making the condition for normal return determination more severe than the condition for abnormal determination, it is possible to prevent an incorrect determination of normal return determination.
- predetermined values L and M for the respective counter values may be the same or different. Also, in the case of M> L, it is possible to easily restrict the return to normal condition, and thereby, it is possible to prevent an erroneous determination of the normal return.
- the detection value of the sensor unit 5 merely enters the normal range, so that determination of normal return is not performed, and area determination is used. That is, when the detection value of the sensor unit 5 (resolver) determined to be abnormal can be detected a plurality of times in a plurality of areas in the normal range, it is determined that the normal return is made, and the normal return is performed. The return to normal is judged by increasing the probability. Furthermore, the drive control of the motor 4 can be automatically continued by performing the normal return determination.
- the area division is performed using the X axis, the Y axis, and / or the oblique lines (25, 26).
- the area division by the oblique line it is a combination of the sine signal and the cosine signal, and the area determination is a little complicated. Therefore, in the present embodiment, as shown in FIG. 6, the division is made based on the absolute value of the sine signal / cosine signal.
- the absolute value A1 of the sine signal two divided lines (27a, 27b) parallel to the Y axis centering on the Y axis are drawn, and similarly, the absolute value A1 of the cosine signal is the X axis
- Two division lines (28a, 28b) parallel to the X-axis centering on the x-axis are drawn to make eight divisions by these four division lines (27a, 27b, 28a, 28b). That is, the normal range of the donut shape defined by the circle 23 and the circle 24 is divided into eight regions by four straight lines (27a, 27b, 28a, 28b). This makes the area determination simpler than in the first embodiment.
- the value of A1 may be different from the sine signal and the cosine signal.
- the sum of squares of detected values of sine and cosine signals (sin 2 ⁇ + cos 2 ⁇ ) is in the range of K ⁇ ⁇ , and thereafter, the absolute value of the sine or cosine signal is less than A1. By checking whether or not there is, it is possible to specify which area it is.
- the same effect as that of the first embodiment can be obtained.
- the X-axis and the Y-axis are used as division lines used for area determination.
- parallel division lines 27a, 27b, 28a, 28b
- the toroidal normal range may be divided by a predetermined value set for any one of the sine signal and the cosine signal.
- the rotation angle of the motor 4 is determined by determining the tangent value (tan ⁇ ) from the detection values (sin ⁇ , cos ⁇ ) of the sensor unit 5 (resolver). Furthermore, the rotational angular velocity of the motor 4 can be easily obtained by calculating the change of the rotational angle for each predetermined time. It is known that the rotational angular velocity of the motor 4 is driven by the microcomputer 1 within a predetermined range in consideration of the magnitude of the load of the motor 4.
- microcomputer 1 further includes a rotational angular velocity detection unit (not shown) for detecting the rotational angular velocity of motor 4, and the detected rotational angular velocity is outside the predetermined range, in particular, the rotational angular velocity is within the predetermined range When it is faster, the normal return judgment is not performed.
- the microcomputer 1 determines that the motor 4 is rotating at a high speed (when it is determined that the angular velocity of the motor 4 is larger than a predetermined value)
- the microcomputer 1 sets all counters CNTi in FIG. It resets (step S22).
- the microcomputer 1 prohibits 1 addition to the counter value of the counter CNTi (step S21).
- the detection value of the sensor unit 5 is prohibited not to be judged as normal.
- a step of determining whether the angular velocity of the motor 4 is equal to or less than a predetermined value is provided between steps S21 and S23.
- the flow of FIG. 5 may be modified.
- the motor 4 is rotated at an angular velocity higher than a preset range.
- Reference Signs List 1 microcomputer, 2 vehicle sensor, 3 drive circuit, 4 motor, 5 sensor unit, 6 excitation circuit, 7, 8 interface circuit, 9 rotor, 10 excitation coil, 11 sine coil, 12 cosine coil, 13 signal circuit.
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Abstract
Description
以下、この発明の実施の形態1を図に基づいて説明する。
図1は、この発明の実施の形態1に係るモータ制御装置の構成を示した図である。図1においては、回転体として、モータ4を例にあげている。モータ制御装置は、レゾルバ装置14を備え、制御対象のモータ4(回転体)の駆動を制御する。モータ制御装置は、モータ4の出力軸の回転を検出する手段として、レゾルバ装置14を用いている。モータ4は、例えば、3相ブラシレスモータから構成されている。モータ4およびモータ制御装置は、自動車などの車両に搭載される。
異常範囲: sin2θ+cos2θ ≦ K-α または (2)
sin2θ+cos2θ ≧ K+α
本実施の形態では、正常範囲の領域を区分するための別の区分方法について、図6を用いて説明する。実施の形態1の図3では、X軸、Y軸、及び/又は、斜めライン(25、26)を使用して領域区分した。しかし、斜めラインによる領域区分では正弦信号と余弦信号の組合せとなり、領域判定が少し複雑である。そこで、本実施の形態では、図6に示したように、正弦信号・余弦信号の絶対値による区分とした。具体的には、正弦信号の絶対値A1として、Y軸を中心としたY軸に平行な2本の分割ライン(27a、27b)を引き、同様に、余弦信号の絶対値A1として、X軸を中心としたX軸に平行な2本の分割ライン(28a、28b)を引き、これらの4本の分割ライン(27a、27b、28a、28b)による8分割とした。すなわち、円23と円24とで定義されるドーナツ型の正常範囲を、4本の直線(27a,27b,28a,28b)で8つの領域に区分している。これにより、領域判定は、実施の形態1よりもさらに簡略となる。なお、A1の値は正弦信号と余弦信号と異なっていてもよい。
次に、この発明の実施の形態3について説明する。センサ部5(レゾルバ)の検出値(sinθ,cosθ)から正接値(tanθ)を求めることにより、モータ4の回転角が求まる。さらに、当該回転角の所定時間毎の変化を演算すれば、モータ4の回転角速度が簡単に求めることができる。モータ4の回転角速度は、マイコン1によりモータ4の負荷の大小を考慮して所定範囲内で駆動していることがわかっている。そこで、本実施の形態においては、マイコン1が、モータ4の回転角速度を検出する回転角速度検出部(図示せず)をさらに備え、検出した回転角速度が所定範囲外、特に、回転角速度が所定範囲より速い場合に、正常復帰判定を実施しないようにする。具体的には、モータ4が高速回転を行っているとマイコン1が判定した場合(モータ4の角速度が所定値より大きいと判定した場合)には、マイコン1は、図5の全カウンタCNTiをリセットする(ステップS22)。あるいは、マイコン1は、カウンタCNTiのカウンタ値への1加算を禁止する(ステップS21)。このように、モータ1の角速度が、予め決められた角速度よりも速い場合、復帰判定部が正常復帰したと判定することを禁止する、又は、領域判定部が領域判定を行うことを禁止することにより、センサ部5(レゾルバ)の検出値が正常と判断しないように禁止する。
Claims (11)
- 回転体の回転角度に応じた正弦信号及び余弦信号の少なくとも一方を検出値として出力するレゾルバと、
前記検出値が所定の第1の正常範囲内にあるか否かを判定することにより、前記レゾルバの異常の有無を判定する異常検出部と、
前記第1の正常範囲を複数の領域に区分する領域区分部と、
前記検出値が所定の第2の正常範囲内で、かつ、前記領域区分部により区分された前記第1の正常範囲の複数の領域のうちのいずれの領域内に前記検出値が入ったかを判定し、所定個数の領域内に前記検出値が存在したことを検出した場合に、前記レゾルバを正常と判定する領域判定部と、
上記異常検出部により前記レゾルバが異常と判定された後に、上記領域判定部により前記レゾルバが正常とみなされた場合に、前記レゾルバが正常復帰したと判定する復帰判定部と
を備えたことを特徴とするレゾルバ装置。 - 上記領域判定部は、
前記領域区分部により区分された前記第1の正常範囲の各領域ごとに、前記検出値が当該領域に存在した回数をカウントするためのカウント部を有し、
所定個数以上のカウント部のカウント値が所定値以上となった場合に、前記レゾルバを正常とみなす
ことを特徴とする請求項1記載のレゾルバ装置。 - 前記領域判定部の前記カウント部は、前記検出値が前記第2の正常範囲外と判定されたときに、カウント値がリセットされることを特徴とする請求項2記載のレゾルバ装置。
- 前記回転体の回転角速度を検出する回転角速度検出部をさらに備え、
前記回転角速度検出部によって検出された前記回転角速度が所定値以上である場合に、前記復帰判定部が正常復帰したと判定することを禁止する又は前記領域判定部が正常と判定することを禁止する
ことを特徴とする請求項1ないし3のいずれか1項に記載のレゾルバ装置。 - 前記第1の正常範囲は、前記検出値に対して予め設定した所定の上限値および下限値を有し、
前記領域区分部は、前記上限値と前記下限値とで定義される前記第1の正常範囲を、複数の領域に区分することを特徴とする請求項1ないし4のいずれか1項に記載のレゾルバ装置。 - 前記領域区分部は、前記正弦信号と前記余弦信号のそれぞれに対して予め設定された分割ラインで区分することを特徴とする請求項5記載のレゾルバ装置。
- 上記領域区分部は、少なくとも上記正弦信号に対して予め設定された分割ラインで区分することを特徴とする請求項5記載のレゾルバ装置。
- 上記領域区分部は、少なくとも上記余弦信号に対して予め設定された分割ラインで区分することを特徴とする請求項5記載のレゾルバ装置。
- 前記第2の正常範囲は上限値および下限値を有し、
前記第1の正常範囲の前記上限値及び前記下限値の少なくとも一方は、前記第2の正常範囲の前記上限値及び前記下限値と異なることを特徴とする請求項1ないし8のいずれか1項に記載のレゾルバ装置。 - 請求項1ないし9のいずれか1項に記載のレゾルバ装置と、
前記回転体としてのモータと
を備え、
前記モータの出力軸の回転を前記レゾルバ装置で検出し、前記モータの制御を行うことを特徴とするモータ制御装置。 - モータの回転角度に応じてレゾルバから出力される正弦信号及び/又は余弦信号が前記モータの検出値として入力される入力ステップと、
前記検出値が所定の第1の正常範囲内にあるか否かを判定することにより、前記レゾルバの異常の有無を判定する異常検出ステップと、
前記第1の正常範囲を複数の領域に区分する領域区分ステップと、
前記検出値が所定の第2の正常範囲内で、かつ、前記領域区分部により区分された前記第1の正常範囲の複数の領域のうちのいずれの領域内に前記検出値が入ったかを判定し、所定個数の領域内に前記検出値が存在したことを検出した場合に、前記レゾルバを正常と判定する領域判定ステップと、
上記異常検出ステップにより前記レゾルバが異常と判定された後に、上記領域判定ステップにより前記レゾルバが正常とみなされた場合に、前記レゾルバが正常復帰したと判定する復帰判定ステップと
を備えたことを特徴とするモータ制御方法。
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US14/376,935 US9410792B2 (en) | 2012-04-12 | 2012-04-12 | Resolver device, motor control device, and motor control method |
CN201280072315.6A CN104246442B (zh) | 2012-04-12 | 2012-04-12 | 旋转变压器装置、电动机控制装置及电动机控制方法 |
PCT/JP2012/060025 WO2013153653A1 (ja) | 2012-04-12 | 2012-04-12 | レゾルバ装置、モータ制御装置、および、モータ制御方法 |
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DE102015209277A1 (de) | 2015-05-21 | 2016-11-24 | Robert Bosch Gmbh | Signalverarbeitungseinrichtung und Steuereinrichtung |
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US10677619B2 (en) * | 2017-07-05 | 2020-06-09 | GM Global Technology Operations LLC | Method of monitoring a vector-based position sensor |
JP6863195B2 (ja) * | 2017-09-19 | 2021-04-21 | トヨタ自動車株式会社 | 駆動装置 |
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CN104246442A (zh) | 2014-12-24 |
JPWO2013153653A1 (ja) | 2015-12-17 |
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