WO2019058675A1 - Malfunction diagnosis method, motor control method, power conversion device, motor module, and electric power steering device - Google Patents
Malfunction diagnosis method, motor control method, power conversion device, motor module, and electric power steering device Download PDFInfo
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- WO2019058675A1 WO2019058675A1 PCT/JP2018/023517 JP2018023517W WO2019058675A1 WO 2019058675 A1 WO2019058675 A1 WO 2019058675A1 JP 2018023517 W JP2018023517 W JP 2018023517W WO 2019058675 A1 WO2019058675 A1 WO 2019058675A1
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- Prior art keywords
- switching element
- phase
- failure
- motor
- failure diagnosis
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Definitions
- the present disclosure relates to a failure diagnosis method, a motor control method, a power conversion device, a motor module, and an electric power steering device.
- Patent Document 1 discloses a motor drive device having a first system and a second system.
- the first system is connected to a first winding set of the motor, and includes a first inverter unit, a power supply relay, a reverse connection protection relay, and the like.
- the second system is connected to a second winding set of the motor, and includes a second inverter unit, a power supply relay, a reverse connection protection relay, and the like.
- the power supply relay is operated from the power supply, the failed system or the failure. Shut off the power supply to the grid connected to the set of windings. It is possible to continue motor drive using the other system which has not failed.
- Patent documents 2 and 3 also disclose a motor drive device having a first system and a second system. Even if one system or one winding set fails, the motor drive can be continued by the system which has not failed.
- Patent Document 4 discloses a motor drive device having four electrical separation means and two inverters and converting power supplied to a three-phase motor.
- one electrical separation means is provided between the power supply and the inverter, and one electrical separation means is provided between the inverter and the ground (hereinafter referred to as GND).
- GND ground
- n is an integer of 3 or more
- Embodiments of the present disclosure provide a failure diagnosis method capable of identifying which one of a plurality of switching elements has failed when a failure occurs.
- an embodiment of the present disclosure provides a failure diagnosis method capable of identifying which one of a plurality of phases has failed when a failure occurs.
- An exemplary failure diagnosis method is a failure diagnosis method for diagnosing the presence or absence of a failure of a power conversion device that supplies electric power to a motor, wherein the power conversion device includes a plurality of switching elements, and the plurality of power conversion devices
- the switching element is connected to a winding of n phases (n is an integer of 3 or more) included in the motor, and in each of the plurality of switching elements, when the switching element is controlled to be in an on state Determining whether the current flowing is less than a predetermined current; detecting a time during which the current flowing through the switching element is less than the predetermined current if the current flowing through the switching element is less than the predetermined current; Determining whether the detected time is a predetermined time or more, and when the detected time is the predetermined time or more, Performing the steps of counting the number of times the detected time exceeds the predetermined time, and determining whether the total number counted is the predetermined number or more, the total number of the n phases counted It is determined that the
- FIG. 1 is a block diagram schematically showing a typical block configuration of a motor module 2000 according to an exemplary embodiment 1.
- FIG. 2 is a circuit diagram schematically showing a circuit configuration of the inverter unit 100 according to the exemplary embodiment 1.
- FIG. 3 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in the A-phase, B-phase, and C-phase windings of motor 200 when inverter unit 100 is controlled according to three-phase conduction control. It is a graph.
- FIG. 4 is a functional block diagram illustrating functional blocks of the controller 340 for performing motor control in general.
- FIG. 5 is a flowchart showing an operation of diagnosing the presence or absence of a failure of the switching element using the value of the current flowing through the switching element.
- FIG. 6 is a diagram for explaining an example of the operation of diagnosing the presence or absence of a failure of the switching element using the value of the current flowing through the switching element.
- FIG. 7 is a diagram showing the relationship between the output value of the AND block 822, the output value of the integrator 831, and the output value of the comparator 841.
- FIG. 8 is a diagram showing the relationship between the output value of the AND block 822, the output value of the integrator 831, and the output value of the comparator 851.
- FIG. 9 is a flowchart showing an operation of diagnosing the presence or absence of a failure of the switching element using the value of the voltage applied to the switching element.
- FIG. 10 is a diagram for explaining an example of the operation of diagnosing the presence or absence of a failure of the switching element using the value of the voltage applied to the switching element.
- FIG. 11 is a diagram showing the controller 340 that diagnoses the presence or absence of a failure of the switching element using both the current value and the voltage value.
- FIG. 12 is a diagram showing an example of functional blocks of the failure diagnosis unit 800_IV.
- FIG. 13 is a diagram showing another example of functional blocks of the failure diagnosis unit 800_IV.
- FIG. 14 is a diagram showing the controller 340 that uses the current value to diagnose the presence or absence of a phase failure.
- FIG. 15 is a diagram showing an example of functional blocks of the failure diagnosis unit 800P_I.
- FIG. 16 is a diagram showing an example of functional blocks of the failure diagnosis unit 800P_IA.
- FIG. 17 is a diagram showing a controller 340 that diagnoses the presence or absence of a phase failure using a voltage value.
- FIG. 18 is a diagram showing an example of functional blocks of the failure diagnosis unit 800P_V.
- FIG. 19 is a diagram showing an example of functional blocks of the failure diagnosis unit 800P_VA.
- FIG. 20 shows a controller 340 that diagnoses the presence or absence of a phase failure using both current and voltage values.
- FIG. 21 is a diagram showing an example of functional blocks of the failure diagnosis unit 800P_IV.
- FIG. 22 is a diagram showing another example of functional blocks of failure diagnosis unit 800P_IV.
- FIG. 23 is a circuit diagram schematically showing a circuit configuration of an inverter unit 100A having a single inverter 140 according to a modification of the first embodiment.
- FIG. 24 is a schematic view showing a typical configuration of the electric power steering apparatus 3000 according to the second embodiment.
- the implementation of the present disclosure will be exemplified taking a power conversion device that converts power from a power supply into power supplied to a three-phase motor having three-phase (A-phase, B-phase, C-phase) windings.
- the form will be described.
- a power conversion device for converting power from a power supply into power to be supplied to an n-phase motor having n-phase (n is an integer of 4 or more) windings such as four-phase or five-phase
- a motor used for the device Control methods are also within the scope of the present disclosure.
- FIG. 1 schematically shows a typical block configuration of a motor module 2000 according to the present embodiment.
- Motor module 2000 typically includes power converter 1000 and motor 200.
- Power converter 1000 includes inverter unit 100 and control circuit 300.
- the motor module 2000 may be modularized and manufactured and sold as an electromechanical integrated motor having, for example, a motor, a sensor, a driver and a controller.
- Power converter 1000 can convert power from power source 101 (see FIG. 2) into power to be supplied to motor 200. Power converter 1000 is connected to motor 200. For example, power conversion apparatus 1000 can convert DC power into three-phase AC power which is pseudo sine waves of A-phase, B-phase and C-phase.
- connection between components (components) mainly means electrical connection.
- the motor 200 is, for example, a three-phase alternating current motor.
- Motor 200 includes A-phase winding M1, B-phase winding M2 and C-phase winding M3, and is connected to first inverter 120 and second inverter 130 of inverter unit 100.
- the first inverter 120 is connected to one end of the winding of each phase of the motor 200
- the second inverter 130 is connected to the other end of the winding of each phase.
- the control circuit 300 includes, for example, a power supply circuit 310, an angle sensor 320, an input circuit 330, a controller 340, a drive circuit 350, and a ROM 360. Each component of the control circuit 300 is mounted on, for example, a single circuit board (typically, a printed circuit board). Control circuit 300 is connected to inverter unit 100, and controls inverter unit 100 based on input signals from current sensor 150 and angle sensor 320. As the control method, there are, for example, vector control, pulse width modulation (PWM) or direct torque control (DTC). However, depending on the motor control method (for example, sensorless control), the angle sensor 320 may not be necessary.
- PWM pulse width modulation
- DTC direct torque control
- the control circuit 300 can achieve closed loop control by controlling the target position, rotational speed, current, and the like of the rotor of the motor 200.
- Control circuit 300 may include a torque sensor instead of angle sensor 320. In this case, the control circuit 300 can control the target motor torque.
- the power supply circuit 310 generates power supply voltages (for example, 3 V, 5 V) necessary for each block in the circuit based on, for example, a voltage of 12 V of the power supply 101.
- the angle sensor 320 is, for example, a resolver or a Hall IC. Alternatively, the angle sensor 320 is also realized by a combination of an MR sensor having a magnetoresistive (MR) element and a sensor magnet. The angle sensor 320 detects a rotation angle of the rotor (hereinafter referred to as “rotation signal”), and outputs a rotation signal to the controller 340.
- rotation signal a rotation angle of the rotor
- the input circuit 330 receives the phase current detected by the current sensor 150 (hereinafter may be referred to as “actual current value”), and the level of the actual current value corresponds to the input level of the controller 340 as necessary. It converts and outputs an actual current value to the controller 340.
- the input circuit 330 is, for example, an analog-to-digital converter.
- the controller 340 is an integrated circuit that controls the entire power conversion apparatus 1000, and is, for example, a microcontroller or a field programmable gate array (FPGA).
- the controller 340 controls the switching operation (turn-on or turn-off) of each switching element (typically, semiconductor switching element) in the first and second inverters 120 and 130 of the inverter unit 100.
- the controller 340 sets a target current value according to the actual current value, the rotation signal of the rotor, etc. to generate a PWM signal, and outputs it to the drive circuit 350.
- the drive circuit 350 is typically a predriver (sometimes referred to as a "gate driver").
- the drive circuit 350 generates a control signal (gate control signal) for controlling the switching operation of each switching element in the first and second inverters 120 and 130 of the inverter unit 100 according to the PWM signal, and controls the gate of each switching element give.
- gate control signal gate control signal
- the pre-driver may not be required. In that case, the function of the pre-driver may be implemented in the controller 340.
- the drive circuit 350 includes a voltage detection circuit 380.
- the voltage detection circuit 380 detects, for example, the voltage applied to each of the plurality of switching elements included in the first and second inverters 120 and 130. For example, when the switching element is a FET, the voltage detection circuit 380 detects the voltage between the source and drain of each FET.
- the ROM 360 is, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read only memory.
- the ROM 360 stores a control program including instructions for causing the controller 340 to control the power conversion apparatus 1000.
- the control program is temporarily expanded in a RAM (not shown) at boot time.
- FIG. 2 schematically shows the circuit configuration of the inverter unit 100 according to the present embodiment.
- the power supply 101 generates a predetermined power supply voltage (for example, 12 V).
- a DC power supply is used as the power supply 101.
- the power supply 101 may be an AC-DC converter or a DC-DC converter, or may be a battery (storage battery).
- the power supply 101 may be a single power supply common to the first and second inverters 120, 130 as shown, or for the first power supply (not shown) for the first inverter 120 and for the second inverter 130.
- the fuses ISW_ 11 and ISW_ 12 are connected between the power supply 101 and the first inverter 120.
- the fuses ISW_11 and ISW_12 can interrupt a large current that can flow from the power supply 101 to the first inverter 120.
- the fuses ISW 21 and ISW 22 are connected between the power supply 101 and the second inverter 130.
- the fuses ISW_ 21 and ISW_ 22 can interrupt a large current that can flow from the power supply 101 to the second inverter 130.
- a relay or the like may be used instead of the fuse.
- coils are provided between the power supply 101 and the first inverter 120 and between the power supply 101 and the second inverter 130.
- the coil functions as a noise filter, and smoothes high frequency noise included in the voltage waveform supplied to each inverter or high frequency noise generated in each inverter so as not to flow out to the power supply 101 side.
- a capacitor is connected to the power supply terminal of each inverter.
- the capacitor is a so-called bypass capacitor, which suppresses voltage ripple.
- the capacitor is, for example, an electrolytic capacitor, and the capacity and the number to be used are appropriately determined according to design specifications and the like.
- the first inverter 120 has a bridge circuit composed of three legs. Each leg has a high side switching element, a low side switching element, and a shunt resistor.
- the A-phase leg has a high side switching element SW_A1H, a low side switching element SW_A1L, and a first shunt resistor S_A1.
- the B-phase leg has a high side switching element SW_B1H, a low side switching element SW_B1L, and a first shunt resistor S_B1.
- the C-phase leg has a high side switching device SW_C1H, a low side switching device SW_C1L, and a first shunt resistor S_C1.
- a switching element for example, a field effect transistor (typically, a MOSFET) in which a parasitic diode is formed, or a combination of an insulated gate bipolar transistor (IGBT) and a free wheeling diode connected in parallel thereto can be used.
- a field effect transistor typically, a MOSFET
- IGBT insulated gate bipolar transistor
- the first shunt resistor S_A1 is used to detect an A-phase current IA1 flowing through the A-phase winding M1, and is connected, for example, between the low side switching element SW_A1L and the GND line GL.
- the first shunt resistor S_B1 is used to detect the B-phase current IB1 flowing through the B-phase winding M2, and is connected, for example, between the low side switching element SW_B1L and the GND line GL.
- the first shunt resistor S_C1 is used to detect a C-phase current IC1 flowing through the C-phase winding M3, and is connected, for example, between the low side switching element SW_C1L and the GND line GL.
- the three shunt resistors S_A1, S_B1, and S_C1 are commonly connected to the GND line GL of the first inverter 120.
- the second inverter 130 has a bridge circuit composed of three legs. Each leg has a high side switching element, a low side switching element and a shunt resistor.
- the A-phase leg has a high side switching element SW_A2H, a low side switching element SW_A2L, and a shunt resistor S_A2.
- the B-phase leg has a high side switching device SW_B2H, a low side switching device SW_B2L, and a shunt resistor S_B2.
- the C-phase leg has a high side switching device SW_C2H, a low side switching device SW_C2L, and a shunt resistor S_C2.
- the shunt resistor S_A2 is used to detect the A-phase current IA2, and is connected, for example, between the low side switching element SW_A2L and the GND line GL.
- the shunt resistor S_B2 is used to detect the B-phase current IB2, and is connected, for example, between the low side switching element SW_B2L and the GND line GL.
- the shunt resistor S_C2 is used to detect the C-phase current IC2, and is connected, for example, between the low side switching element SW_C2L and the GND line GL.
- the three shunt resistors S_A2, S_B2 and S_C2 are commonly connected to the GND line GL of the second inverter 130.
- the above-described current sensor 150 includes, for example, shunt resistors S_A1, S_B1, S_C1, S_A2, S_B2 and S_C2 and a current detection circuit (not shown) that detects the current flowing in each shunt resistor.
- the A phase leg of the first inverter 120 (specifically, the node between the high side switching element SW_A1H and the low side switching element SW_A1L) is connected to one end A1 of the A phase winding M1 of the motor 200, and the second inverter The 130 A-phase leg is connected to the other end A2 of the A-phase winding M1.
- the B-phase leg of the first inverter 120 is connected to one end B1 of the B-phase winding M2 of the motor 200, and the B-phase leg of the second inverter 130 is connected to the other end B2 of the winding M2.
- the C-phase leg of the first inverter 120 is connected to one end C1 of the C-phase winding M3 of the motor 200, and the C-phase leg of the second inverter 130 is connected to the other end C2 of the winding M3.
- the switching element SW_A1L when the switching element SW_A1L turns on, the switching element SW_A2L turns off, and when the switching element SW_A1L turns off, the switching element SW_A2L turns on.
- the switching element SW_A1H when the switching element SW_A1H is turned on, the switching element SW_A2H is turned off, and when the switching element SW_A1H is turned off, the switching element SW_A2H is turned on.
- the current output from the power supply 101 flows to the GND line GL through the high side switching element, the winding, and the low side switching element.
- the connection of the power conversion device 100 may be referred to as an open connection.
- part of the current flowing from the switching element SW_A1H to the winding M1 may flow to the switching element SW_A2H. That is, the current flowing from the switching element SW_A1H to the winding M1 may branch to the switching element SW_A2L and the switching element SW_A2H and flow. Similarly, part of the current flowing from the switching element SW_A2H to the winding M1 may flow to the switching element SW_A1H.
- a part of the current flowing from the switching element SW_B1H to the winding M2 may flow to the switching element SW_B2H. Further, part of the current flowing from the switching element SW_B2H to the winding M2 may flow to the switching element SW_B1H.
- a part of the current flowing from the switching element SW_C1H to the winding M3 may flow to the switching element SW_C2H. Further, part of the current flowing from the switching element SW_C2H to the winding M3 may flow to the switching element SW_C1H.
- FIG. 3 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in the A-phase, B-phase, and C-phase windings of the motor 200 when the inverter unit 100 is controlled according to three-phase energization control. ing.
- the horizontal axis indicates the motor electrical angle (deg), and the vertical axis indicates the current value (A).
- current values are plotted every 30 ° of electrical angle.
- I pk represents the maximum current value (peak current value) of each phase.
- the control circuit 300 can generate a PWM signal for obtaining the current waveform shown in FIG.
- the failure is roughly classified into “open failure” and “short failure".
- Open fault refers to a fault in which the source-drain of the FET is open (in other words, the source-drain resistance is always in a high impedance state).
- Short circuit failure refers to a failure in which the source-drain of the FET is constantly shorted. In the failure diagnosis of the present embodiment, an open failure of the switching element is detected.
- the algorithm for realizing the fault diagnosis method according to the present embodiment can be realized only by hardware such as a microcontroller, an application specific integrated circuit (ASIC) or an FPGA, or by a combination of hardware and software. It can be realized.
- FIG. 4 exemplifies functional blocks of the controller 340 for performing motor control in general.
- FIG. 5 is a flowchart showing an example of failure diagnosis that the controller 340 executes.
- each block in the functional block diagram is shown not in hardware but in functional block.
- the software used for motor control and failure diagnosis may be, for example, a module that configures a computer program for executing specific processing corresponding to each functional block.
- Such computer programs are stored, for example, in the ROM 360.
- the controller 340 can read an instruction from the ROM 360 and sequentially execute each process.
- the controller 340 receives the current value detected by the current sensor 150 via the input circuit 330 (FIG. 1).
- the current sensor 150 detects the current flowing in each phase using the above-described shunt resistor, so that the current flowing in each of the plurality of switching elements provided in the first and second inverters 120 and 130 can be grasped.
- the voltage detection circuit 380 (FIG. 1) detects the voltage applied to each of the plurality of switching elements included in the first and second inverters 120 and 130, for example, and outputs the voltage to the controller 340.
- the controller 340 includes, for example, a fault diagnosis unit 800 and a motor control unit 900.
- the failure diagnosis unit 800 diagnoses the presence or absence of a failure using current and / or voltage information on each of the plurality of switching elements.
- the failure diagnosis unit 800 outputs a signal indicating the diagnosis result of the presence or absence of a failure to the motor control unit 900.
- the motor control unit 900 generates, based on the diagnosis result, a PWM signal that controls the overall switching operation of the switching elements of the first and second inverters 120 and 130 using, for example, vector control.
- the motor control unit 900 outputs a PWM signal to the drive circuit 350.
- the motor control unit 900 switches control of the first and second inverters 120 and 130 according to the diagnosis result. Specifically, the motor control unit 900 can determine the on / off operation of the switching elements of the first and second inverters 120 and 130 based on the diagnosis result. The motor control unit 900 can further determine the on / off operation of the fuses ISW_11, ISW_12, ISW_21 and ISW_22 based on the diagnosis result.
- each functional block may be referred to as a unit for convenience of explanation. Naturally, this notation is not used with the intention of limiting interpretation of each functional block to hardware or software.
- each functional block is implemented as software in the controller 340
- the execution subject of the software may be, for example, the core of the controller 340.
- controller 340 may be implemented by an FPGA. In that case, all or part of the functional blocks can be realized in hardware.
- the computing load of a specific computer can be distributed.
- all or part of the illustrated functional blocks may be distributed and implemented in a plurality of FPGAs.
- the plurality of FPGAs are communicably connected to one another by, for example, a vehicle-mounted control area network (CAN), and can transmit and receive data.
- CAN vehicle-mounted control area network
- the failure diagnosis unit 800 includes 12 switching elements SW_A1H, SW_A1L, SW_B1H, SW_B1L, SW_C1H, SW_C1L, SW_A2H, SW_A2L, SW_A2L, SW_B2H, SW_B2L, SW_C2H, and 12 of the first and second inverters 120 and 130. , Execute the fault diagnosis of the present embodiment.
- fault diagnosis unit 800 that diagnoses the presence or absence of a fault of the switching element using the value of the current flowing through the switching element is expressed as fault diagnosis unit 800_I.
- the failure diagnosis unit 800_I detects the current flowing through the switching element SW_A1H when the switching element SW_A1H is controlled to the on state (step S101). For example, when the switching element SW_A1H and the switching element SW_A2L are on and the switching element SW_A2H and the switching element SW_A1L are off, current flows from the power supply 101, the switching element SW_A1H, the winding M1, the switching element SW_A2L, the shunt resistor S_A2, the GND line It flows in order of GL.
- the magnitude of the current flowing through the shunt resistor S_A2 corresponds to the magnitude of the current flowing through the switching element SW_A1H.
- the failure diagnosis unit 800_I can detect, for example, the magnitude of the current flowing through the switching element SW_A1H from the current flowing through the shunt resistor S_A2.
- the failure diagnosis unit 800_I determines whether the current flowing through the switching element SW_A1H is less than a predetermined current when the switching element SW_A1H is controlled to be in the on state (step S102).
- the predetermined current is, for example, 10 mA. Note that 10 mA is an example, and the embodiment of the present disclosure is not limited thereto.
- the switching element SW_A1H when the switching element SW_A1H is not broken, that is, normal, a current of 10 mA or more flows in the switching element SW_A1H to which the gate control signal is supplied.
- the switching element SW_A1H has an open failure, the current flowing through the switching element SW_A1H to which the gate control signal is supplied is less than 10 mA.
- failure diagnosis unit 800_I determines that the detected current is not less than 10 mA, it determines that the switching element SW_A1H is normal (step S108).
- the failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and returns to the process of step S101.
- step S102 If it is determined in step S102 that the detected current is less than 10 mA, the process proceeds to step S103.
- step S103 when the switching element SW_A1H is controlled to be in the on state, the failure diagnosis unit 800_I detects the time when the current flowing through the switching element SW_A1H is less than 10 mA.
- the failure diagnosis unit 800_I determines whether the detected time is equal to or longer than a predetermined time (step S104).
- the predetermined time is, for example, 50 ⁇ s. Note that 50 ⁇ s is an example, and the embodiment of the present disclosure is not limited thereto.
- the predetermined time may be set in accordance with the structure and rotational speed of motor 200.
- the failure diagnosis unit 800_I determines that the switching element SW_A1H is normal (step S108).
- the failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and returns to the process of step S101.
- step S104 If it is determined in step S104 that the detected time is 50 ⁇ s or more, the process proceeds to step S105.
- step S105 the failure diagnosis unit 800_I counts the number of times that the detected time is 50 ⁇ s or more.
- the failure diagnosis unit 800_I determines whether the counted total number is equal to or more than a predetermined number (step S106).
- the predetermined number of times is, for example, three times. Note that three times is an example, and the embodiment of the present disclosure is not limited thereto.
- the predetermined number of times may be a plurality of times, may be two, or may be four or more.
- the switching element SW_A1H may have an open failure, but it is not yet determined as a failure at a stage where it is detected only once.
- each time the control circuit 300 supplies the gate control signal to the switching element SW_A1H it is determined that the detected time is 50 ⁇ s or more in the process of step S104.
- the determination that the detected time is 50 ⁇ s or more is performed a plurality of times (for example, three times), it is determined that the switching element SW_A1H has an open failure.
- the failure diagnosis unit 800_I determines that the switching element SW_A1H is normal (step S108).
- the failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and returns to the process of step S101.
- step S107 If it is determined in step S106 that the total number of times counted is three or more, it is determined that the switching element SW_A1H has an open failure (step S107).
- the failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is broken to the motor control unit 900. After outputting a signal indicating that the switching element SW_A1H is broken to the motor control unit 900, the failure diagnosis unit 800_I may return to the process of step S101.
- the motor control unit 900 When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
- the control mode at the time of abnormality is, for example, a control mode in which the neutral point of the winding is formed in the failed inverter, and the motor 200 is driven by the non-failed inverter.
- the motor control unit 900 performs control to turn off the fuses ISW_11 and ISW_12. Accordingly, the first inverter 120 including the failed switching element SW_A1H is separated from the power supply and the GND. Then, for example, the switching elements SW_A1H, SW_B1H, and SW_C1H are turned off, and the switching elements SW_A1L, SW_B1L, and SW_C1L are turned on, whereby the first inverter 120 is configured with a neutral point. By using this neutral point, the motor 200 can be driven by the second inverter 130 which has not failed.
- the control mode at the time of abnormality may be two-phase energization control.
- the motor control unit 900 turns off all the switching elements SW_A1H, SW_A1L, SW_A2H, and SW_A2L belonging to the A phase.
- two-phase conduction control is performed using switching elements SW_B1H, SW_B1L, SW_B2H, SW_B2L, SW_C1H, SW_C1L, SW_C2H, and SW_C2L belonging to the B phase and the C phase. In this way, the motor 200 can be driven using a phase that has not failed.
- the control mode at the time of abnormality may be shutdown.
- the shutdown is control for stopping the operation of the motor 200.
- the fault diagnosis unit 800 _I executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
- failure diagnosis of the present embodiment when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
- the failure diagnosis unit 800_I illustrated in FIG. 6 is a failure diagnosis unit 800 that diagnoses the presence or absence of a failure of the switching element using the value of the current flowing through the detected switching element.
- a failure diagnosis unit 800 that diagnoses the presence or absence of a failure of the switching element using the value of the current flowing through the detected switching element.
- the current value (“I” in FIG. 6) of the detected switching element SW_A1H is input to the failure diagnosis unit 800_I. Further, a gate control signal (“S" in FIG. 6) for turning on the switching element SW_A1H is input to the failure diagnosis unit 800_I.
- the absolute value block 811 obtains the absolute value of the detected current of the switching element SW_A1H.
- a comparator (Comparator) 812 compares the obtained absolute value with a predetermined current lower limit value.
- the current lower limit value corresponds to a predetermined current used in the process of step S102 shown in FIG. Note that 10 mA is an example, and the embodiment of the present disclosure is not limited thereto.
- the comparator 812 outputs 1 when the absolute value of the current is 10 mA or more, and outputs 0 when it is less than 10 mA.
- the NOT block 821 performs the logical operation "NOT" and inverts the output value of the comparator 812.
- the output value of the NOT block 821 and the gate control signal are input to the AND block 822.
- a high level gate control signal for turning on the switching element SW_A1H is 1, and a low level gate control signal for turning off the switching element SW_A1H is 0.
- the AND block 822 performs a logical operation of "AND".
- the AND block 822 outputs 1 when both the output value of the NOT block 821 and the gate control signal are 1. That is, the AND block 822 outputs 1 when the current flowing through the switching element SW_A1H is less than the lower limit value when the switching element SW_A1H is controlled to be in the on state. Otherwise, the AND block 822 outputs 0.
- the output value of the AND block 822 and the output value of the comparator 841 are input to the OR block 832.
- the OR block 832 performs the logical operation of “OR”.
- the initial value output by the comparator 841 is zero.
- the OR block 832 outputs 1 when at least one of the output value of the AND block 822 and the output value of the comparator 841 is 1.
- the OR block 832 outputs 0 when both the output value of the AND block 822 and the output value of the comparator 841 are 0.
- the NOT block 833 performs the logical operation “NOT” and inverts the output value of the OR block 832.
- An integrator (Integrator) 831 integrates and outputs the output value of the AND block 822.
- the comparator 841 compares the output value of the integrator 831 with the first reference value.
- the comparator 851 compares the output value of the integrator 831 with the second reference value.
- FIG. 7 is a diagram showing the relationship between the output value of the AND block 822, the output value of the integrator 831, and the output value of the comparator 841.
- the horizontal axis of FIG. 7 represents time.
- the first reference value is a value corresponding to a predetermined time used in the process of step S104 shown in FIG.
- the output value of the integrator 831 corresponding to the predetermined time 50 ⁇ s is set to 10.
- the output value “10” corresponds to, for example, 1.0 V of the output voltage of the integrator 831.
- the portion where the AND block 822 outputs 1 for 10 ⁇ s corresponds to noise.
- the integrator 831 outputs a value obtained by integrating the output value of the AND block 822 for a period of 10 ⁇ s. In the example of FIG. 7, the integrator 831 outputs 2.
- the comparator 841 outputs 0 because the output value “2” of the integrator 831 is less than the first reference value “10”.
- the AND block 822 When the switching element SW_A1H is turned off, the AND block 822 outputs 0.
- the OR block 832 outputs 0 when both the output value of the AND block 822 and the output value of the comparator 841 are 0.
- the NOT block 833 In response to this, the NOT block 833 outputs "1".
- the integrator 831 resets the integrated value when 1 is input from the NOT block 833.
- the comparator 841 outputs 1 because the output value of the integrator 831 is equal to or greater than the first reference value “10”.
- the OR block 832 Since the output value of the comparator 841 becomes 1, the OR block 832 outputs 1 and the NOT block 833 outputs 0 even if the switching element SW_A1H is turned off. When 0 is input from the NOT block 833, the integrator 831 continues integration while maintaining the integrated value. Reset of integrated value is not performed.
- FIG. 8 is a diagram showing the relationship between the output value of the AND block 822, the output value of the integrator 831, and the output value of the comparator 851.
- the horizontal axis of FIG. 8 represents time.
- the second reference value is a value corresponding to a predetermined number of times used in the process of step S106 shown in FIG. For example, the output value of the integrator 831 corresponding to three counts is set to 30.
- the integrator 831 continues to integrate the output value of the AND block 822.
- the comparator 851 outputs 0 while the output value of the integrator 831 is less than the second reference value “30”.
- the comparator 851 outputs 1 when the output value of the integrator 831 becomes equal to or greater than the second reference value “30”.
- the output value “1” of the comparator 851 becomes a signal indicating that the switching element SW_A1H is broken, and is input to the motor control unit 900.
- the comparator 851 While the output value of the integrator 831 is less than the second reference value “30”, the comparator 851 outputs 0. The output value “0” of the comparator 851 becomes a signal indicating that the switching element SW_A1H is normal, and is input to the motor control unit 900.
- the integrator 831 may reset the integrated value.
- the switching element SW_A1H may be out of order.
- the switching element SW_A1H may be regarded as not having a fault, and the integrator 831 may be reset to continue fault diagnosis.
- the failure diagnosis unit 800_I can diagnose the presence or absence of a failure of the switching element using the value of the current flowing through the detected switching element.
- the fault diagnosis unit 800 _I executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
- failure diagnosis of the present embodiment when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
- fault diagnosis unit 800 that diagnoses the presence or absence of a fault of the switching element using the value of the voltage applied to the switching element is expressed as fault diagnosis unit 800_V.
- FIG. 9 is a flowchart showing an operation of diagnosing the presence or absence of a failure of the switching element using the value of the voltage applied to the switching element.
- the switching element is an FET
- the voltage applied to the switching element is the voltage between the source and drain of the FET.
- the operations of steps S105 to S108 shown in FIG. 9 are similar to the operations of steps S105 to S108 shown in FIG.
- the failure diagnosis unit 800_V detects the source-drain voltage of the switching element SW_A1H when the switching element SW_A1H is controlled to be in the on state (step S111). For example, the failure diagnosis unit 800_V can detect the source-drain voltage of the switching element SW_A1H using the output signal of the voltage detection circuit 380 (FIG. 1).
- the failure diagnosis unit 800_V determines whether the voltage between the source and drain of the switching element SW_A1H when the switching element SW_A1H is controlled to be in the ON state is equal to or higher than a predetermined voltage (step S112).
- the predetermined voltage is, for example, 0.5V.
- 0.5 V is an example, and the embodiment of the present disclosure is not limited thereto.
- the source-drain voltage of the switching element SW_A1H supplied with the gate control signal is less than 0.5V.
- the source-drain voltage of the switching element SW_A1H to which the gate control signal is supplied is 0.5 V or more.
- failure diagnosis unit 800_V determines that the detected voltage is not 0.5 V or more, it determines that switching element SW_A1H is normal (step S108). Failure diagnosis unit 800_V outputs a signal indicating that switching element SW_A1H is normal to motor control unit 900, and returns to the process of step S111.
- step S113 when the switching element SW_A1H is controlled to be in the on state, the failure diagnosis unit 800_V detects the time when the source-drain voltage of the switching element SW_A1H is 0.5 V or more.
- fault diagnosis unit 800_V determines whether the detected time is equal to or longer than a predetermined time (step S114).
- the predetermined time is, for example, 50 ⁇ s. Note that 50 ⁇ s is an example, and the embodiment of the present disclosure is not limited thereto.
- the source-drain voltage of the on-state switching element SW_A1H may be 0.5 V or more for a short time due to disturbance such as noise. If the switching element SW_A1H is determined to be abnormal based on an abnormal value caused by such noise, correct determination can not be made. Therefore, in the present embodiment, when the time during which the voltage is 0.5 V or more is short (for example, less than 50 ⁇ s), it is determined that the switching element SW_A1H is normal.
- failure diagnosis unit 800_V determines that the detected time is not 50 ⁇ s or more, it determines that switching element SW_A1H is normal (step S108). Failure diagnosis unit 800_V outputs a signal indicating that switching element SW_A1H is normal to motor control unit 900, and returns to the process of step S111.
- step S114 If it is determined in step S114 that the detected time is 50 ⁇ s or more, the process proceeds to step S105.
- the operations in steps S105 to S108 shown in FIG. 9 are the same as the operations in steps S105 to S108 shown in FIG. 5, and therefore, the detailed description thereof will not be repeated.
- the failure diagnosis unit 800_V when it is determined in step S108 that the switching element SW_A1H is normal, the failure diagnosis unit 800_V outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and step S111.
- the failure diagnosis unit 800_V outputs a signal indicating that the switching element SW_A1H is broken to the motor control unit 900.
- the failure diagnosis unit 800_I may return to the process of step S111.
- the motor control unit 900 When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
- the fault diagnosis unit 800 _V executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to the switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
- failure diagnosis of the present embodiment when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
- the failure diagnosis unit 800 _V illustrated in FIG. 10 is a failure diagnosis unit 800 that diagnoses the presence or absence of a failure of the switching element using the value of the voltage applied to the detected switching element.
- a failure diagnosis unit 800 that diagnoses the presence or absence of a failure of the switching element using the value of the voltage applied to the detected switching element.
- the source-drain voltage (“V” in FIG. 10) of the detected switching element SW_A1H is input to the failure diagnosis unit 800_V. Further, a gate control signal (“S" in FIG. 10) for turning on the switching element SW_A1H is input to the failure diagnosis unit 800_V.
- the absolute value block 813 obtains the absolute value of the detected source-drain voltage of the switching element SW_A1H.
- the comparator 814 compares the obtained absolute value with a predetermined voltage lower limit value.
- the voltage lower limit value corresponds to a predetermined voltage used in the process of step S112 shown in FIG.
- 0.5 V is an example, and the embodiment of the present disclosure is not limited thereto.
- the comparator 814 outputs 1 when the absolute value of the voltage is 0.5 V or more, and outputs 0 when the absolute value of the voltage is less than 0.5 V.
- the output of the comparator 814 and the gate control signal are input to the AND block 822.
- the AND block 822 outputs 1 when both the output value of the comparator 814 and the gate control signal are 1. That is, the AND block 822 outputs 1 when the voltage between the source and the drain of the switching element SW_A1H when the switching element SW_A1H is controlled to be in the ON state is equal to or more than the lower limit value. Otherwise, the AND block 822 outputs 0.
- the output of the AND block 822 is input to the integrator 831 and the OR block 832.
- the integrator 831 continues to integrate the output value of the AND block 822.
- the comparator 851 outputs 0 while the output value of the integrator 831 is less than the second reference value “30”.
- the comparator 851 outputs 1 when the output value of the integrator 831 becomes equal to or greater than the second reference value “30”.
- the failure diagnosis unit 800_V can diagnose the presence or absence of a failure of the switching element using the value of the voltage applied to the detected switching element.
- the fault diagnosis unit 800 _V executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to the switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
- failure diagnosis of the present embodiment when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
- the controller 340 includes a failure diagnosis unit 800_IV as the failure diagnosis unit 800.
- the failure diagnosis unit 800_IV diagnoses the presence or absence of a failure of the switching element using both the value of the current flowing through the switching element and the value of the voltage applied to the switching element.
- FIG. 12 shows an example of functional blocks of the failure diagnosis unit 800_IV.
- the failure diagnosis unit 800_IV shown in FIG. 12 includes a failure diagnosis unit 800_I, a failure diagnosis unit 800_V, and an OR block 861.
- the failure diagnosis unit 800_I performs the diagnosis using the current value described with reference to FIGS. 5 to 8. However, in this example, in step S108 shown in FIG. 5, the failure diagnosis unit 800_I determines that the current flowing through the switching element SW_A1H is normal. In this case, the failure diagnosis unit 800_I outputs a signal (for example, “0”) indicating that the current flowing through the switching element SW_A1H is normal to the OR block 861, and returns to the process of step S101. Further, in step S107 shown in FIG. 5, the failure diagnosis unit 800_I determines that the current flowing through the switching element SW_A1H is abnormal. The failure diagnosis unit 800_I outputs a signal (for example, “1”) indicating that the current flowing through the switching element SW_A1H is abnormal to the OR block 861.
- a signal for example, “0”
- the output value “0” of the comparator 851 shown in FIG. 6 is a signal indicating that the current flowing through the switching element SW_A1H is normal.
- the output value “1” of the comparator 851 is a signal indicating that the current flowing through the switching element SW_A1H is abnormal.
- the output of the comparator 851 is input to the OR block 861.
- the failure diagnosis unit 800_I shown in FIG. 12 determines the presence or absence of an abnormality in the current flowing through the switching element.
- Failure diagnosis unit 800_V performs a diagnosis using voltage values described with reference to FIGS. 9 and 10. However, in this example, in step S108 shown in FIG. 9, the failure diagnosis unit 800_V determines that the voltage applied to the switching element SW_A1H is normal. In this case, the failure diagnosis unit 800_V outputs a signal (for example, “0”) indicating that the voltage applied to the switching element SW_A1H is normal to the OR block 861, and returns to the process of step S111. Further, in step S107 shown in FIG. 9, the fault diagnosis unit 800_V determines that the voltage applied to the switching element SW_A1H is abnormal. The failure diagnosis unit 800_V outputs a signal (eg, “1”) indicating that the voltage applied to the switching element SW_A1H is abnormal to the OR block 861.
- a signal for example, “0”
- the output value “0” of the comparator 851 shown in FIG. 10 is a signal indicating that the voltage applied to the switching element SW_A1H is normal.
- the output value “1” of the comparator 851 is a signal indicating that the voltage applied to the switching element SW_A1H is abnormal.
- the output of the comparator 851 is input to the OR block 861.
- the failure diagnosis unit 800 _V illustrated in FIG. 12 determines whether or not the voltage applied to the switching element is abnormal.
- the OR block 861 determines that the switching element SW_A1H is normal if both of the signals output from the failure diagnosis units 800_I and 800_V are normal. When it is determined that the switching element SW_A1H is normal, the OR block 861 outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the motor control unit 900.
- the OR block 861 determines that the switching element SW_A1H is out of order if at least one of the signals output from the failure diagnosis units 800_I and 800_V indicates an abnormality. If it is determined that the switching element SW_A1H is faulty, the OR block 861 outputs a signal (for example, “1”) indicating that the switching element SW_A1H is faulty to the motor control unit 900. When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
- the fault diagnosis unit 800_IV performs fault diagnosis using both of the detected current value and voltage value. Then, when at least one of the detected current value and voltage value is abnormal, it is determined that the switching element is broken. For example, when the current sensor 150 breaks down, the current flowing through the switching element can not be detected. Even in this case, the detected voltage value can be used to diagnose the presence or absence of a fault. Also, for example, when the voltage detection circuit 380 fails, the voltage applied to the switching element can not be detected, but in this case as well, the presence or absence of the failure can be diagnosed using the detected current value.
- FIG. 13 shows another example of the functional block of the fault diagnosis unit 800_IV.
- the fault diagnosis unit 800_IV shown in FIG. 13 includes a fault diagnosis unit 800_I, a fault diagnosis unit 800_V, and an AND block 862.
- fault diagnosis units 800_I and 800_IV shown in FIG. 13 is similar to the operation of fault diagnosis units 800_I and 800_IV shown in FIG. In the example shown in FIG. 13, the output of each of the fault diagnosis units 800 _I and 800 _IV is input to an AND block 862.
- the AND block 862 determines that the switching element SW_A1H is normal if at least one of the signals output from the failure diagnosis units 800_I and 800_V is normal. When it is determined that the switching element SW_A1H is normal, the AND block 862 outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the motor control unit 900.
- the AND block 862 determines that the switching element SW_A1H is out of order if both of the signals output from the failure diagnosis units 800_I and 800_V indicate an abnormality. If it is determined that the switching element SW_A1H has a failure, the AND block 862 outputs a signal (for example, “1”) indicating that the switching element SW_A1H has a failure to the motor control unit 900. When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
- the failure diagnosis unit 800 _IV performs failure diagnosis using both of the detected current value and voltage value. Then, when both of the detected current value and voltage value are abnormal, it is determined that the switching element is broken. Determining a failure when both the current value and the voltage value are abnormal can increase the reliability of the determination of the failure.
- the method of diagnosing the presence or absence of a failure of the switching element has been described by taking the power conversion device 1000 as an example.
- the failure diagnosis method for diagnosing the presence or absence of a failure of a switching element according to an embodiment of the present disclosure can be applied to various devices other than the power conversion device 1000.
- these failure diagnosis methods can be applied to various converters such as a DC-DC converter, and various power generation systems such as a wind power generation system.
- the failure diagnosis method for diagnosing the presence or absence of a failure of a switching element according to an embodiment of the present disclosure can be applied to an electric device including a switching element in which switching between on and off is repeated.
- the plurality of switching elements included in the first and second inverters 120 and 130 are connected to the A-phase winding M1, the B-phase winding M2, and the C-phase winding M3 included in the motor 200.
- appropriate control can be performed according to the location of the failure. For example, if it is possible to specify that a failure has occurred in the A phase, two-phase energization control can be performed using the remaining B phase and C phase.
- the controller 340 includes a fault diagnosis unit 800P_I as the fault diagnosis unit 800.
- the failure diagnosis unit 800P_I diagnoses the presence or absence of a phase failure using the value of the current flowing through the switching element.
- FIG. 15 shows an example of a functional block of the failure diagnosis unit 800P_I.
- Fault diagnosis unit 800P_I shown in FIG. 15 includes fault diagnosis units 800P_IA, 800P_IB, and 800P_IC.
- Failure diagnosis unit 800P_IA performs failure diagnosis of phase A using the value of the current flowing through the switching element belonging to phase A.
- Failure diagnosis unit 800P_IB performs failure diagnosis of phase B using the value of the current flowing through the switching element belonging to phase B.
- Failure diagnosis unit 800P_IC performs failure diagnosis on the C phase using the value of the current flowing through the switching element belonging to the C phase.
- FIG. 16 shows an example of functional blocks of the failure diagnosis unit 800P_IA.
- Fault diagnosis unit 800P_IA shown in FIG. 16 includes fault diagnosis units 800_I1H, 800_I1L, 800_I2H, 800_I2L, and an OR block 870_I.
- the switching elements SW_A1H, SW_A1L, SW_A2H, and SW_A2L are connected to the A-phase winding M1.
- the current I_A1H flowing through the switching element SW_A1H and the gate control signal S_A1H for turning on the switching element SW_A1H are input to the failure diagnosis unit 800_I1H.
- the current I_A1L flowing through the switching element SW_A1L and the gate control signal S_A1L for turning on the switching element SW_A1L are input to the failure diagnosis unit 800_I1L.
- the current I_A2H flowing through the switching element SW_A2H and the gate control signal S_A2H for turning on the switching element SW_A2H are input to the failure diagnosis unit 800_I2H.
- the current I_A2L flowing through the switching element SW_A2L and the gate control signal S_A2L for turning on the switching element SW_A2L are input to the failure diagnosis unit 800_I2L.
- the failure diagnosis unit 800_I1H performs the failure diagnosis using the current value described with reference to FIGS. 5 to 8.
- the failure diagnosis unit 800_I1H When it is determined in step S108 in FIG. 5 that the switching element SW_A1H is normal, the failure diagnosis unit 800_I1H outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the OR block 870_I. It returns to the process of step S101. If it is determined in step S107 that the switching element SW_A1H has a failure, the failure diagnosis unit 800_I1H outputs a signal (for example, “1”) indicating that the switching element SW_A1H has a failure to the OR block 870_I.
- the failure diagnosis units 800_I1L, 800_I2H, and 800_I2L also perform failure diagnosis on the switching elements SW_A1L, SW_A2H, and SW_A2L.
- the output of each of the four fault diagnosis units 800_I1H, 800_I1L, 800_I2H and 800_I2L is input to the OR block 870_I.
- the OR block 870_I determines that the phase A is normal if all of the outputs of the four fault diagnosis units 800_I1H, 800_I1L, 800_I2H and 800_I2L indicate normal. If it is determined that the A phase is normal, the OR block 870_I outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
- the OR block 870 _I determines that a failure has occurred in the A phase when any of the output signals of the four failure diagnosis units 800 _I 1 H, 800 _ I 1 L, 800 _ I 2 H, and 800 _ I 2 L indicates a failure. If it is determined that a failure occurs in phase A, OR block 870 _I outputs a signal (for example, “1”) indicating that a failure occurs in phase A to motor control unit 900.
- a signal for example, “1”
- fault diagnosis units 800P_IB and 800P_IC shown in FIG. 15 also diagnose the presence or absence of a B phase and a C phase fault.
- Fault diagnosis units 800P_IB and 800P_IC output a signal indicating the result of fault diagnosis to motor control unit 900.
- the motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the failure diagnosis units 800P_IA, 800P_IB, and 800P_IC. Also, when a failure occurs, the motor control unit 900 can identify which phase the failure has occurred from the output signals of the failure diagnosis units 800P_IA, 800P_IB, and 800P_IC. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point. For example, the motor control unit 900 can perform two-phase conduction control using the remaining two phases other than the failure phase.
- the controller 340 includes a fault diagnosis unit 800P_V as the fault diagnosis unit 800.
- the failure diagnosis unit 800P_V diagnoses the presence or absence of a phase failure using the value of the voltage applied to the switching element.
- FIG. 18 shows an example of a functional block of the failure diagnosis unit 800P_V.
- the fault diagnosis unit 800P_V illustrated in FIG. 18 includes fault diagnosis units 800P_VA, 800P_VB, and 800P_VC.
- Failure diagnosis unit 800P_VA performs failure diagnosis of A phase using the value of the voltage applied to the switching element belonging to A phase.
- Failure diagnosis unit 800P_VB performs failure diagnosis of phase B using the value of the voltage applied to the switching element belonging to phase B.
- Failure diagnosis unit 800P_VC performs failure diagnosis of phase C using the value of the voltage applied to the switching element belonging to phase C.
- FIG. 19 shows an example of a functional block of the failure diagnosis unit 800P_VA.
- Failure diagnosis unit 800P_VA shown in FIG. 19 includes failure diagnosis units 800_V1H, 800_V1L, 800_V2H, 800_V2L, and an OR block 870_V.
- the voltage V_A1H applied to the switching element SW_A1H and the gate control signal S_A1H are input to the failure diagnosis unit 800_V1H.
- the voltage V_A1L applied to the switching element SW_A1L and the gate control signal S_A1L are input to the failure diagnosis unit 800_V1L.
- the voltage V_A2H applied to the switching element SW_A2H and the gate control signal S_A2H are input to the failure diagnosis unit 800_V2H.
- the voltage V_A2L applied to the switching element SW_A2L and the gate control signal S_A2L are input to the failure diagnosis unit 800_V2L.
- the failure diagnosis unit 800_V1H performs the failure diagnosis using the voltage value described with reference to FIGS. 9 and 10.
- the failure diagnosis unit 800_V1H When it is determined in step S108 in FIG. 9 that the switching element SW_A1H is normal, the failure diagnosis unit 800_V1H outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the OR block 870_V. It returns to the process of step S111.
- the failure diagnosis unit 800_V1H outputs a signal (for example, “1”) indicating that the switching element SW_A1H is in failure to the OR block 870_V. Do.
- the failure diagnosis units 800_V1L, 800_V2H, and 800_V2L also perform failure diagnosis on the switching elements SW_A1L, SW_A2H, and SW_A2L.
- the outputs of the four fault diagnosis units 800_V1H, 800_V1L, 800_V2H and 800_V2L are input to the OR block 870_V.
- the OR block 870 _V determines that the phase A is normal when all of the output signals of the four fault diagnosis units 800 _V 1 H, 800 _ V 1 L, 800 _ V 2 H, and 800 _ V 2 L indicate normal. If it is determined that the A phase is normal, the OR block 870 _V outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
- the OR block 870 _V determines that a failure has occurred in the A phase when any of the output signals of the four failure diagnosis units 800 _V 1 H, 800 _ V 1 L, 800 _ V 2 H, and 800 _ V 2 L indicates a failure. If it is determined that a failure has occurred in phase A, OR block 870 _V outputs a signal (for example, “1”) indicating that a failure has occurred in phase A to motor control unit 900.
- a signal for example, “1”
- fault diagnosis units 800P_VB and 800P_VC shown in FIG. 18 also diagnose the presence or absence of a B phase and a C phase fault.
- Fault diagnosis units 800P_VB and 800P_VC output a signal indicating the result of fault diagnosis to motor control unit 900.
- the motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the failure diagnosis units 800P_VA, 800P_VB, and 800P_VC. Also, when a failure occurs, the motor control unit 900 can identify which phase the failure has occurred from the output signals of the failure diagnosis units 800P_VA, 800P_VB, and 800P_VC. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point. For example, the motor control unit 900 can perform two-phase conduction control using the remaining two phases other than the failure phase.
- the controller 340 includes a fault diagnosis unit 800P_IV as the fault diagnosis unit 800.
- Failure diagnosis unit 800P_IV diagnoses the presence or absence of a phase failure using both the value of the current flowing through the switching element and the value of the voltage applied to the switching element.
- FIG. 21 shows an example of a functional block of the failure diagnosis unit 800P_IV.
- Failure diagnosis unit 800P_IV shown in FIG. 21 includes failure diagnosis units 800P_IA and 800P_VA, and an OR block 881A.
- Failure diagnosis unit 800P_IA performs the diagnosis using the current value described with reference to FIGS. 15 and 16.
- Failure diagnosis unit 800P_VA performs a diagnosis using voltage values described with reference to FIGS. 18 and 19.
- the OR block 881A determines that the A phase is normal if both of the signals output from the fault diagnosis units 800P_IA and 800P_VA indicate that the signals are normal. If it is determined that the A phase is normal, the OR block 881A outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
- the OR block 881A determines that the A phase is broken when at least one of the signals output from the failure diagnosis units 800P_IA and 800P_VA indicates that it is abnormal. If it is determined that the A phase is broken, the OR block 881A outputs a signal (for example, “1”) indicating that the A phase is broken to the motor control unit 900.
- Fault diagnosis unit 800P_IV further includes fault diagnosis units 800P_IB and 800P_VB, and an OR block 881B.
- Failure diagnosis unit 800P_IB performs the diagnosis using the current value described with reference to FIGS. 15 and 16.
- Failure diagnosis unit 800P_VB performs diagnosis using voltage values described with reference to FIGS. 18 and 19.
- the OR block 881B determines that the B phase is normal if both of the signals output from the failure diagnosis units 800P_IB and 800P_VB are normal. If it is determined that the B phase is normal, the OR block 881B outputs a signal indicating that the B phase is normal to the motor control unit 900.
- the OR block 881B determines that the B phase is broken when at least one of the signals output from the failure diagnosis units 800P_IB and 800P_VB is abnormal. If it is determined that the B phase is broken, the OR block 881B outputs a signal indicating that the B phase is broken to the motor control unit 900.
- Failure diagnosis unit 800P_IV further includes failure diagnosis units 800P_IC and 800P_VC, and an OR block 881C.
- Failure diagnosis unit 800P_IC performs the diagnosis using the current value described with reference to FIGS. 15 and 16.
- Failure diagnosis unit 800P_VC performs diagnosis using voltage values described with reference to FIGS. 18 and 19.
- the OR block 881 C determines that the C phase is normal if both of the signals output from the failure diagnosis units 800 P_IC and 800 P_VC indicate that they are normal. If it is determined that the C phase is normal, the OR block 881C outputs a signal indicating that the C phase is normal to the motor control unit 900.
- the OR block 881 C determines that the C phase is broken when at least one of the signals output from the failure diagnosis units 800 P_IC and 800 P_VC indicates an error. If it is determined that the C phase is broken, the OR block 881C outputs a signal indicating that the C phase is broken to the motor control unit 900.
- the motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the OR blocks 881A, 881B, and 881C. If a failure occurs, the motor control unit 900 can identify which phase the failure has occurred. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point. For example, the motor control unit 900 can perform two-phase conduction control using the remaining two phases other than the failure phase.
- the failure diagnosis unit 800P_IV performs failure diagnosis using both of the detected current value and voltage value. For example, when the current sensor 150 breaks down, the current flowing through the switching element can not be detected. Even in this case, the detected voltage value can be used to diagnose the presence or absence of a fault. Also, for example, when the voltage detection circuit 380 fails, the voltage applied to the switching element can not be detected, but in this case as well, the presence or absence of the failure can be diagnosed using the detected current value.
- FIG. 22 shows another example of the functional block of the failure diagnosis unit 800P_IV.
- the failure diagnosis unit 800_IV shown in FIG. 22 includes AND blocks 882A, 882B and 882C instead of the OR blocks 881A, 881B and 881C.
- the outputs of fault diagnosis units 800P_IA and 800P_VA are input to AND block 882A.
- the outputs of fault diagnosis units 800P_IB and 800P_VB are input to AND block 882B.
- the outputs of fault diagnosis units 800P_IC and 800P_VC are input to AND block 882C.
- the AND block 882A determines that the A phase is normal if at least one of the signals output from the failure diagnosis units 800P_IA and 800P_VA indicates that the signal is normal. If it is determined that the A phase is normal, the AND block 882A outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
- the AND block 882A determines that the A phase is broken when both of the signals output from the failure diagnosis units 800P_IA and 800P_VA indicate that it is abnormal. If it is determined that the A phase is broken, the AND block 882A outputs a signal (for example, “1”) indicating that the A phase is broken to the motor control unit 900.
- the AND block 882B determines that the B phase is normal if at least one of the signals output from the failure diagnosis units 800P_IB and 800P_VB is normal. If it is determined that the B phase is normal, the AND block 882B outputs a signal indicating that the B phase is normal to the motor control unit 900.
- the AND block 882B determines that the B phase is broken when both of the signals output from the failure diagnosis units 800P_IB and 800P_VB are abnormal. When it is determined that the B phase is broken, the AND block 882B outputs a signal indicating that the B phase is broken to the motor control unit 900.
- the AND block 882C determines that the C phase is normal if at least one of the signals output from the failure diagnosis units 800P_IC and 800P_VC indicates that it is normal. If it is determined that the C phase is normal, the AND block 882C outputs a signal indicating that the C phase is normal to the motor control unit 900.
- the AND block 882C determines that the C phase is in failure if both of the signals output from the failure diagnosis units 800P_IC and 800P_VC indicate an abnormality. If it is determined that the C phase is broken, the AND block 882 C outputs a signal indicating that the C phase is broken to the motor control unit 900.
- the motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the OR blocks 882A, 882B, 882C. If a failure occurs, the motor control unit 900 can identify which phase the failure has occurred. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point.
- the failure diagnosis unit 800P_IV performs failure diagnosis using both of the detected current value and voltage value. Determining a failure when both the current value and the voltage value are abnormal can increase the reliability of the determination of the failure.
- the failure diagnosis method according to the embodiment of the present disclosure is not limited to the power conversion device 1000 including the inverter unit 100 having three H bridges as shown in FIG. 2, and a motor in which one ends of the windings are Y-connected It can also be suitably used for a power converter for driving the
- FIG. 23 schematically shows a circuit configuration of an inverter unit 100A having a single inverter 140 according to a modification of the present embodiment.
- the inverter unit 100A is connected to a motor 200 having three-phase windings whose one ends are Y-connected.
- the failure diagnosis method according to the embodiment is applicable to, for example, a motor using a three-phase current, and is also applicable to a motor having a winding in which one end is delta-connected.
- the A phase leg of the inverter 140 has a low side switch element SW_AL, a high side switch element SW_AH, and a shunt resistor S_A.
- the B-phase leg has a low side switch element SW_BL, a high side switch element SW_BH, and a shunt resistor S_B.
- the C-phase leg has a low side switch element SW_CL, a high side switch element SW_CH, and a shunt resistor S_C.
- the controller 340 can diagnose the presence or absence of a failure of a plurality of switching elements included in the inverter 140 in the same manner as the failure diagnosis method described above. Further, the controller 340 can diagnose the presence or absence of a failure in the A phase, the B phase, and the C phase in the same manner as the failure diagnosis method described above.
- the controller 340 controls the motor 200 by, for example, three-phase conduction control.
- the controller 340 performs control to stop the driving of the motor 200, for example.
- the controller 340 can change the control of the motor 200 depending on whether the inverter 140 is normal or abnormal.
- FIG. 24 schematically shows a typical configuration of an electric power steering apparatus 3000 according to this embodiment.
- Vehicles such as automobiles generally have an electric power steering device.
- the electric power steering apparatus 3000 according to the present embodiment has a steering system 520 and an auxiliary torque mechanism 540 that generates an auxiliary torque.
- Electric power steering apparatus 3000 generates an assist torque that assists the steering torque of the steering system generated by the driver operating the steering wheel.
- the assist torque reduces the burden on the driver's operation.
- the steering system 520 includes, for example, a steering handle 521, a steering shaft 522, free shaft joints 523A and 523B, a rotating shaft 524, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, and knuckles 528A. , 528B, and left and right steering wheels 529A, 529B.
- the auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an electronic control unit (ECU) 542 for a car, a motor 543, a reduction mechanism 544, and the like.
- the steering torque sensor 541 detects a steering torque in the steering system 520.
- the ECU 542 generates a drive signal based on a detection signal of the steering torque sensor 541.
- the motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal.
- the motor 543 transmits the generated assist torque to the steering system 520 via the reduction mechanism 544.
- the ECU 542 includes, for example, the controller 340 and the drive circuit 350 according to the first embodiment.
- an electronic control system is built around an ECU.
- a motor drive unit is constructed by the ECU 542, the motor 543 and the inverter 545.
- the motor module 2000 by Embodiment 1 can be used suitably for the system.
- Embodiments of the present disclosure are also suitably used in motor control systems such as shift by wire, steering by wire, X by wire such as brake by wire, and traction motors.
- an EPS implementing a motor control method according to an embodiment of the present disclosure is an autonomous vehicle corresponding to levels 0 to 4 (standards of automation) defined by the Government of Japan and the Road Traffic Safety Administration (NHTSA) of the US Department of Transportation. It can be loaded.
- Embodiments of the present disclosure can be widely used in a variety of devices equipped with various motors, such as vacuum cleaners, dryers, ceiling fans, washing machines, refrigerators, and electric power steering devices.
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Abstract
This malfunction diagnosis method involves executing, for each of a plurality of switching elements: a step for determining whether the current flowing in the switching element when the switching element has been controlled to be in an on state is below a prescribed current; a step for detecting, when the current flowing in the switching element is below the prescribed current, the amount of time that the current flowing in the switching element is below the prescribed current; a step for determining whether the detected amount of time is at least a prescribed amount of time; a step for counting, when the detected amount of time is at least the prescribed amount of time, the number of times that the detected amount of time has been at least the prescribed amount of time; and a step for determining whether a counted total number of times is at least a prescribed number of times. Of n phases, the phases of windings that are connected to switching elements for which the counted total number of times is at least the prescribed number of times are determined to be malfunctioning phases.
Description
本開示は、故障診断方法、モータ制御方法、電力変換装置、モータモジュールおよび電動パワーステアリング装置に関する。
The present disclosure relates to a failure diagnosis method, a motor control method, a power conversion device, a motor module, and an electric power steering device.
The present disclosure relates to a failure diagnosis method, a motor control method, a power conversion device, a motor module, and an electric power steering device.
近年、電動モータ(以下、単に「モータ」と表記する。)、インバータおよびECUが一体化された機電一体型モータが開発されている。特に車載分野において、安全性の観点から高い品質保証が要求される。そのため、部品の一部が故障した場合でも安全動作を継続できる冗長設計が取り入れられている。冗長設計の一例として、1つのモータに対して2つの電力変換装置を設けることが検討されている。他の一例としてメインのマイクロコントローラにバックアップ用マイクロコントローラを設けることが検討されている。
2. Description of the Related Art In recent years, an electromechanical integrated motor has been developed in which an electric motor (hereinafter simply referred to as a "motor"), an inverter and an ECU are integrated. Particularly in the automotive field, high quality assurance is required from the viewpoint of safety. Therefore, a redundant design is adopted that can continue safe operation even if part of the part fails. As an example of redundant design, it is considered to provide two power converters for one motor. As another example, it is considered to provide a backup microcontroller in the main microcontroller.
特許文献1は、第1系統および第2系統を有するモータ駆動装置を開示する。第1系統は、モータの第1巻線組に接続され、第1インバータ部、電源リレーおよび逆接続保護リレーなどを有する。第2系統は、モータの第2巻線組に接続され、第2インバータ部、電源リレーおよび逆接続保護リレーなどを有する。モータ駆動装置に故障が生じていないとき、第1系統および第2系統の両方を用いてモータを駆動することが可能である。これに対し、第1系統および第2系統の一方、または、第1巻線組および第2巻線組の一方に故障が生じたとき、電源リレーは、電源から、故障した系統、または、故障した巻線組に接続された系統への電力供給を遮断する。故障していない他方の系統を用いてモータ駆動を継続させることが可能である。
Patent Document 1 discloses a motor drive device having a first system and a second system. The first system is connected to a first winding set of the motor, and includes a first inverter unit, a power supply relay, a reverse connection protection relay, and the like. The second system is connected to a second winding set of the motor, and includes a second inverter unit, a power supply relay, a reverse connection protection relay, and the like. When no failure occurs in the motor drive device, it is possible to drive the motor using both the first system and the second system. On the other hand, when a failure occurs in one of the first system and the second system, or one of the first winding set and the second winding set, the power supply relay is operated from the power supply, the failed system or the failure. Shut off the power supply to the grid connected to the set of windings. It is possible to continue motor drive using the other system which has not failed.
特許文献2および3も、第1系統および第2系統を有するモータ駆動装置を開示する。一方の系統または一方の巻線組が故障したとしても、故障していない系統によってモータ駆動を継続させることができる。
Patent documents 2 and 3 also disclose a motor drive device having a first system and a second system. Even if one system or one winding set fails, the motor drive can be continued by the system which has not failed.
特許文献4は、4つの電気的分離手段、および、2つのインバータを有し、三相モータに供給する電力を変換するモータ駆動装置を開示する。1つのインバータに対し、電源およびインバータの間に1つの電気的分離手段が設けられ、インバータおよびグランド(以下、GNDと表記する。)の間に1つの電気的分離手段が設けられている。故障したインバータにおける巻線の中性点を用いて、故障していないインバータによってモータを駆動することが可能である。そのとき、故障したインバータに接続された2つの電気的分離手段を遮断状態にすることによって、故障したインバータは電源およびGNDから分離される。
Patent Document 4 discloses a motor drive device having four electrical separation means and two inverters and converting power supplied to a three-phase motor. For one inverter, one electrical separation means is provided between the power supply and the inverter, and one electrical separation means is provided between the inverter and the ground (hereinafter referred to as GND). It is possible to drive the motor with a non-faulty inverter using the neutral point of the winding in the faulted inverter. At that time, the failed inverter is separated from the power supply and GND by putting the two electrical separation means connected to the failed inverter into the cut off state.
上記のような電力変換装置を用いてモータを駆動する装置において、電力変換装置に故障が発生した場合、その故障箇所を特定することが求められる。
In a device that drives a motor using the power conversion device as described above, when a failure occurs in the power conversion device, it is required to identify the failure location.
In a device that drives a motor using the power conversion device as described above, when a failure occurs in the power conversion device, it is required to identify the failure location.
例えば、電力変換装置が備えるスイッチング素子に故障が発生した場合、複数のスイッチング素子のうちのどのスイッチング素子が故障したのかを特定することが求められる。また、例えば、n相(nは3以上の整数)の巻線を備えるモータに電力を供給する電力変換装置に故障が発生した場合、複数の相のうちのどの相が故障したのかを特定することが求められる。
For example, when a failure occurs in a switching element included in the power conversion device, it is required to identify which of the plurality of switching elements has failed. Also, for example, when a failure occurs in a power conversion device that supplies power to a motor including a winding having n phases (n is an integer of 3 or more), which phase among a plurality of phases is specified is identified Is required.
本開示の実施形態は、故障が発生した場合に、複数のスイッチング素子のうちのどのスイッチング素子が故障したのかを特定することが可能な故障診断方法を提供する。
Embodiments of the present disclosure provide a failure diagnosis method capable of identifying which one of a plurality of switching elements has failed when a failure occurs.
また、本開示の実施形態は、故障が発生した場合に、複数の相のうちのどの相が故障したのかを特定することが可能な故障診断方法を提供する。
In addition, an embodiment of the present disclosure provides a failure diagnosis method capable of identifying which one of a plurality of phases has failed when a failure occurs.
本開示の例示的な故障診断方法は、モータに電力を供給する電力変換装置の故障の有無を診断する故障診断方法であって、前記電力変換装置は、複数のスイッチング素子を備え、前記複数のスイッチング素子は、前記モータが備えるn相(nは3以上の整数)の巻線に接続され、前記複数のスイッチング素子のそれぞれにおいて、前記スイッチング素子がオン状態に制御されたときに前記スイッチング素子に流れる電流が所定電流未満であるか判定するステップと、前記スイッチング素子に流れる電流が前記所定電流未満である場合、前記スイッチング素子に流れる電流が前記所定電流未満になる時間を検出するステップと、前記検出した時間が所定時間以上であるか判定するステップと、前記検出した時間が前記所定時間以上である場合、前記検出した時間が前記所定時間以上になる回数をカウントするステップと、前記カウントした合計回数が所定回数以上であるか判定するステップとを実行し、前記n相のうちの、前記カウントした合計回数が前記所定回数以上となるスイッチング素子が接続される前記巻線の相を故障した相と判定する。
An exemplary failure diagnosis method according to the present disclosure is a failure diagnosis method for diagnosing the presence or absence of a failure of a power conversion device that supplies electric power to a motor, wherein the power conversion device includes a plurality of switching elements, and the plurality of power conversion devices The switching element is connected to a winding of n phases (n is an integer of 3 or more) included in the motor, and in each of the plurality of switching elements, when the switching element is controlled to be in an on state Determining whether the current flowing is less than a predetermined current; detecting a time during which the current flowing through the switching element is less than the predetermined current if the current flowing through the switching element is less than the predetermined current; Determining whether the detected time is a predetermined time or more, and when the detected time is the predetermined time or more, Performing the steps of counting the number of times the detected time exceeds the predetermined time, and determining whether the total number counted is the predetermined number or more, the total number of the n phases counted It is determined that the phase of the winding to which the switching element whose number of times is the predetermined number of times or more is connected is the phase that has failed.
An exemplary failure diagnosis method according to the present disclosure is a failure diagnosis method for diagnosing the presence or absence of a failure of a power conversion device that supplies electric power to a motor, wherein the power conversion device includes a plurality of switching elements, and the plurality of power conversion devices The switching element is connected to a winding of n phases (n is an integer of 3 or more) included in the motor, and in each of the plurality of switching elements, when the switching element is controlled to be in an on state Determining whether the current flowing is less than a predetermined current; detecting a time during which the current flowing through the switching element is less than the predetermined current if the current flowing through the switching element is less than the predetermined current; Determining whether the detected time is a predetermined time or more, and when the detected time is the predetermined time or more, Performing the steps of counting the number of times the detected time exceeds the predetermined time, and determining whether the total number counted is the predetermined number or more, the total number of the n phases counted It is determined that the phase of the winding to which the switching element whose number of times is the predetermined number of times or more is connected is the phase that has failed.
本開示の実施形態によれば、故障が発生した場合に、複数のスイッチング素子のうちのどのスイッチング素子が故障したのかを特定することができる。
According to an embodiment of the present disclosure, when a failure occurs, it is possible to identify which switching element of the plurality of switching elements has failed.
According to an embodiment of the present disclosure, when a failure occurs, it is possible to identify which switching element of the plurality of switching elements has failed.
また、本開示の実施形態によれば、故障が発生した場合に、複数の相のうちのどの相が故障したのかを特定することができる。
Further, according to the embodiment of the present disclosure, when a failure occurs, it is possible to specify which phase among the plurality of phases has failed.
以下、添付の図面を参照しながら、本開示の故障診断方法、モータ制御方法、電力変換装置、モータモジュールおよび電動パワーステアリング装置の実施形態を詳細に説明する。但し、以下の説明が不必要に冗長になるのを避け、当業者の理解を容易にするため、必要以上に詳細な説明は省略する場合がある。例えば、既によく知られた事項の詳細説明や実質的に同一の構成に対する重複説明を省略する場合がある。
Hereinafter, embodiments of a failure diagnosis method, a motor control method, a power conversion device, a motor module, and an electric power steering device according to the present disclosure will be described in detail with reference to the attached drawings. However, in order to facilitate the understanding of the person skilled in the art, the following description may be omitted unnecessarily to avoid redundant description. For example, detailed description of already well-known matters and redundant description of substantially the same configuration may be omitted.
本明細書において、電源からの電力を、三相(A相、B相、C相)の巻線を有する三相モータに供給する電力に変換する電力変換装置を例にして、本開示の実施形態を説明する。ただし、電源からの電力を、四相または五相などのn相(nは4以上の整数)の巻線を有するn相モータに供給する電力に変換する電力変換装置、およびその装置に用いるモータ制御方法も本開示の範疇である。
In the present specification, the implementation of the present disclosure will be exemplified taking a power conversion device that converts power from a power supply into power supplied to a three-phase motor having three-phase (A-phase, B-phase, C-phase) windings. The form will be described. However, a power conversion device for converting power from a power supply into power to be supplied to an n-phase motor having n-phase (n is an integer of 4 or more) windings such as four-phase or five-phase, and a motor used for the device Control methods are also within the scope of the present disclosure.
(実施形態1)
〔1.モータモジュール2000および電力変換装置1000の構造〕
図1は、本実施形態によるモータモジュール2000の典型的なブロック構成を模式的に示している。
(Embodiment 1)
[1. Structure of
FIG. 1 schematically shows a typical block configuration of a
モータモジュール2000は、典型的に、電力変換装置1000およびモータ200を備える。電力変換装置1000は、インバータユニット100と制御回路300とを備える。モータモジュール2000は、モジュール化され、例えば、モータ、センサ、ドライバおよびコントローラを有する機電一体型モータとして製造および販売され得る。
Motor module 2000 typically includes power converter 1000 and motor 200. Power converter 1000 includes inverter unit 100 and control circuit 300. The motor module 2000 may be modularized and manufactured and sold as an electromechanical integrated motor having, for example, a motor, a sensor, a driver and a controller.
電力変換装置1000は、電源101(図2を参照)からの電力をモータ200に供給する電力に変換することが可能である。電力変換装置1000は、モータ200に接続される。例えば、電力変換装置1000は、直流電力を、A相、B相およびC相の擬似正弦波である三相交流電力に変換することが可能である。本明細書において、部品(構成要素)同士の間の「接続」とは、主に電気的な接続を意味する。
Power converter 1000 can convert power from power source 101 (see FIG. 2) into power to be supplied to motor 200. Power converter 1000 is connected to motor 200. For example, power conversion apparatus 1000 can convert DC power into three-phase AC power which is pseudo sine waves of A-phase, B-phase and C-phase. In the present specification, “connection” between components (components) mainly means electrical connection.
モータ200は、例えば三相交流モータである。モータ200は、A相の巻線M1、B相の巻線M2およびC相の巻線M3を備え、インバータユニット100の第1インバータ120と第2インバータ130とに接続される。具体的に説明すると、第1インバータ120はモータ200の各相の巻線の一端に接続され、第2インバータ130は各相の巻線の他端に接続される。
The motor 200 is, for example, a three-phase alternating current motor. Motor 200 includes A-phase winding M1, B-phase winding M2 and C-phase winding M3, and is connected to first inverter 120 and second inverter 130 of inverter unit 100. Specifically, the first inverter 120 is connected to one end of the winding of each phase of the motor 200, and the second inverter 130 is connected to the other end of the winding of each phase.
制御回路300は、例えば、電源回路310と、角度センサ320と、入力回路330と、コントローラ340と、駆動回路350と、ROM360とを備える。制御回路300の各部品は、例えば1枚の回路基板(典型的にはプリント基板)に実装される。制御回路300は、インバータユニット100に接続され、電流センサ150および角度センサ320からの入力信号に基づいてインバータユニット100を制御する。その制御手法として、例えばベクトル制御、パルス幅変調(PWM)または直接トルク制御(DTC)がある。ただし、モータ制御手法(例えばセンサレス制御)によっては、角度センサ320は不要な場合がある。
The control circuit 300 includes, for example, a power supply circuit 310, an angle sensor 320, an input circuit 330, a controller 340, a drive circuit 350, and a ROM 360. Each component of the control circuit 300 is mounted on, for example, a single circuit board (typically, a printed circuit board). Control circuit 300 is connected to inverter unit 100, and controls inverter unit 100 based on input signals from current sensor 150 and angle sensor 320. As the control method, there are, for example, vector control, pulse width modulation (PWM) or direct torque control (DTC). However, depending on the motor control method (for example, sensorless control), the angle sensor 320 may not be necessary.
制御回路300は、目的とする、モータ200のロータの位置、回転速度、および電流などを制御してクローズドループ制御を実現することができる。なお、制御回路300は、角度センサ320に代えてトルクセンサを備えてもよい。この場合、制御回路300は、目的とするモータトルクを制御することができる。
The control circuit 300 can achieve closed loop control by controlling the target position, rotational speed, current, and the like of the rotor of the motor 200. Control circuit 300 may include a torque sensor instead of angle sensor 320. In this case, the control circuit 300 can control the target motor torque.
電源回路310は、電源101の例えば12Vの電圧に基づいて回路内の各ブロックに必要な電源電圧(例えば3V、5V)を生成する。
The power supply circuit 310 generates power supply voltages (for example, 3 V, 5 V) necessary for each block in the circuit based on, for example, a voltage of 12 V of the power supply 101.
角度センサ320は、例えばレゾルバまたはホールICである。または、角度センサ320は、磁気抵抗(MR)素子を有するMRセンサとセンサマグネットとの組み合わせによっても実現される。角度センサ320は、ロータの回転角(以下、「回転信号」と表記する。)を検出し、回転信号をコントローラ340に出力する。
The angle sensor 320 is, for example, a resolver or a Hall IC. Alternatively, the angle sensor 320 is also realized by a combination of an MR sensor having a magnetoresistive (MR) element and a sensor magnet. The angle sensor 320 detects a rotation angle of the rotor (hereinafter referred to as “rotation signal”), and outputs a rotation signal to the controller 340.
入力回路330は、電流センサ150によって検出された相電流(以下、「実電流値」と表記する場合がある。)を受け取って、実電流値のレベルをコントローラ340の入力レベルに必要に応じて変換し、実電流値をコントローラ340に出力する。入力回路330は、例えばアナログデジタル変換回路である。
The input circuit 330 receives the phase current detected by the current sensor 150 (hereinafter may be referred to as “actual current value”), and the level of the actual current value corresponds to the input level of the controller 340 as necessary. It converts and outputs an actual current value to the controller 340. The input circuit 330 is, for example, an analog-to-digital converter.
コントローラ340は、電力変換装置1000の全体を制御する集積回路であり、例えば、マイクロコントローラまたはFPGA(Field Programmable Gate Array)である。コントローラ340は、インバータユニット100の第1および第2インバータ120、130における各スイッチング素子(典型的には半導体スイッチング素子)のスイッチング動作(ターンオンまたはターンオフ)を制御する。コントローラ340は、実電流値およびロータの回転信号などに従って目標電流値を設定してPWM信号を生成し、それを駆動回路350に出力する。
The controller 340 is an integrated circuit that controls the entire power conversion apparatus 1000, and is, for example, a microcontroller or a field programmable gate array (FPGA). The controller 340 controls the switching operation (turn-on or turn-off) of each switching element (typically, semiconductor switching element) in the first and second inverters 120 and 130 of the inverter unit 100. The controller 340 sets a target current value according to the actual current value, the rotation signal of the rotor, etc. to generate a PWM signal, and outputs it to the drive circuit 350.
駆動回路350は、典型的にはプリドライバ(「ゲートドライバ」と呼ばれることもある。)である。駆動回路350は、インバータユニット100の第1および第2インバータ120、130における各スイッチング素子のスイッチング動作を制御する制御信号(ゲート制御信号)をPWM信号に従って生成し、各スイッチング素子のゲートに制御信号を与える。駆動対象が低電圧で駆動可能なモータであるとき、プリドライバは必ずしも必要とされない場合がある。その場合、プリドライバの機能は、コントローラ340に実装され得る。
The drive circuit 350 is typically a predriver (sometimes referred to as a "gate driver"). The drive circuit 350 generates a control signal (gate control signal) for controlling the switching operation of each switching element in the first and second inverters 120 and 130 of the inverter unit 100 according to the PWM signal, and controls the gate of each switching element give. When the object to be driven is a low-voltage drivable motor, the pre-driver may not be required. In that case, the function of the pre-driver may be implemented in the controller 340.
駆動回路350は、電圧検出回路380を備える。電圧検出回路380は、例えば、第1および第2インバータ120、130が備える複数のスイッチング素子のそれぞれにかかる電圧を検出する。例えば、スイッチング素子がFETである場合は、電圧検出回路380は、各FETのソース-ドレイン間の電圧を検出する。
The drive circuit 350 includes a voltage detection circuit 380. The voltage detection circuit 380 detects, for example, the voltage applied to each of the plurality of switching elements included in the first and second inverters 120 and 130. For example, when the switching element is a FET, the voltage detection circuit 380 detects the voltage between the source and drain of each FET.
ROM360は、例えば書き込み可能なメモリ(例えばPROM)、書き換え可能なメモリ(例えばフラッシュメモリ)または読み出し専用のメモリである。ROM360は、コントローラ340に電力変換装置1000を制御させるための命令群を含む制御プログラムを格納している。例えば、制御プログラムはブート時にRAM(不図示)に一旦展開される。
TheROM 360 is, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read only memory. The ROM 360 stores a control program including instructions for causing the controller 340 to control the power conversion apparatus 1000. For example, the control program is temporarily expanded in a RAM (not shown) at boot time.
The
図2を参照し、インバータユニット100の具体的な回路構成を説明する。
A specific circuit configuration of theinverter unit 100 will be described with reference to FIG.
A specific circuit configuration of the
図2は、本実施形態によるインバータユニット100の回路構成を模式的に示している。
FIG. 2 schematically shows the circuit configuration of the inverter unit 100 according to the present embodiment.
電源101は、所定の電源電圧(例えば12V)を生成する。電源101として、例えば直流電源が用いられる。ただし、電源101は、AC-DCコンバータまたはDC―DCコンバータであってもよいし、バッテリー(蓄電池)であってもよい。電源101は、図示するように、第1および第2インバータ120、130に共通の単一電源であってもよいし、第1インバータ120用の第1電源(不図示)および第2インバータ130用の第2電源(不図示)を備えていてもよい。
The power supply 101 generates a predetermined power supply voltage (for example, 12 V). For example, a DC power supply is used as the power supply 101. However, the power supply 101 may be an AC-DC converter or a DC-DC converter, or may be a battery (storage battery). The power supply 101 may be a single power supply common to the first and second inverters 120, 130 as shown, or for the first power supply (not shown) for the first inverter 120 and for the second inverter 130. A second power source (not shown) of
ヒューズISW_11、ISW_12が、電源101と第1インバータ120との間に接続される。ヒューズISW_11、ISW_12は、電源101から第1インバータ120に流れ得る大電流を遮断することができる。ヒューズISW_21、ISW_22が、電源101と第2インバータ130との間に接続される。ヒューズISW_21、ISW_22は、電源101から第2インバータ130に流れ得る大電流を遮断することができる。ヒューズの代わりにリレーなどを用いてもよい。
The fuses ISW_ 11 and ISW_ 12 are connected between the power supply 101 and the first inverter 120. The fuses ISW_11 and ISW_12 can interrupt a large current that can flow from the power supply 101 to the first inverter 120. The fuses ISW 21 and ISW 22 are connected between the power supply 101 and the second inverter 130. The fuses ISW_ 21 and ISW_ 22 can interrupt a large current that can flow from the power supply 101 to the second inverter 130. A relay or the like may be used instead of the fuse.
図示されていないが、電源101と第1インバータ120の間、および、電源101と第2インバータ130の間にコイルが設けられる。コイルは、ノイズフィルタとして機能し、各インバータに供給する電圧波形に含まれる高周波ノイズ、または各インバータで発生する高周波ノイズを電源101側に流出させないように平滑化する。また、各インバータの電源端子には、コンデンサが接続される。コンデンサは、いわゆるバイパスコンデンサであり、電圧リプルを抑制する。コンデンサは、例えば電解コンデンサであり、容量および使用する個数は設計仕様などによって適宜決定される。
Although not shown, coils are provided between thepower supply 101 and the first inverter 120 and between the power supply 101 and the second inverter 130. The coil functions as a noise filter, and smoothes high frequency noise included in the voltage waveform supplied to each inverter or high frequency noise generated in each inverter so as not to flow out to the power supply 101 side. Further, a capacitor is connected to the power supply terminal of each inverter. The capacitor is a so-called bypass capacitor, which suppresses voltage ripple. The capacitor is, for example, an electrolytic capacitor, and the capacity and the number to be used are appropriately determined according to design specifications and the like.
Although not shown, coils are provided between the
第1インバータ120は、3個のレグから構成されるブリッジ回路を有する。各レグは、ハイサイドスイッチング素子、ローサイドスイッチング素子及びシャント抵抗を有する。A相レグは、ハイサイドスイッチング素子SW_A1H、ローサイドスイッチング素子SW_A1L及び第1シャント抵抗S_A1を有する。B相レグは、ハイサイドスイッチング素子SW_B1H、ローサイドスイッチング素子SW_B1L及び第1シャント抵抗S_B1を有する。C相レグは、ハイサイドスイッチング素子SW_C1H、ローサイドスイッチング素子SW_C1L及び第1シャント抵抗S_C1を有する。
The
スイッチング素子として、例えば、寄生ダイオードが内部に形成された電界効果トランジスタ(典型的にはMOSFET)、または、絶縁ゲートバイポーラトランジスタ(IGBT)とそれに並列接続された還流ダイオードとの組み合わせを用いることができる。
As a switching element, for example, a field effect transistor (typically, a MOSFET) in which a parasitic diode is formed, or a combination of an insulated gate bipolar transistor (IGBT) and a free wheeling diode connected in parallel thereto can be used. .
第1シャント抵抗S_A1は、A相の巻線M1を流れるA相電流IA1を検出するために用いられ、例えば、ローサイドスイッチング素子SW_A1LとGNDラインGLの間に接続される。第1シャント抵抗S_B1は、B相の巻線M2を流れるB相電流IB1を検出するために用いられ、例えば、ローサイドスイッチング素子SW_B1LとGNDラインGLの間に接続される。第1シャント抵抗S_C1は、C相の巻線M3を流れるC相流IC1を検出するために用いられ、例えば、ローサイドスイッチング素子SW_C1LとGNDラインGLの間に接続される。3個のシャント抵抗S_A1、S_B1、S_C1は、第1インバータ120のGNDラインGLと共通に接続されている。
The first shunt resistor S_A1 is used to detect an A-phase current IA1 flowing through the A-phase winding M1, and is connected, for example, between the low side switching element SW_A1L and the GND line GL. The first shunt resistor S_B1 is used to detect the B-phase current IB1 flowing through the B-phase winding M2, and is connected, for example, between the low side switching element SW_B1L and the GND line GL. The first shunt resistor S_C1 is used to detect a C-phase current IC1 flowing through the C-phase winding M3, and is connected, for example, between the low side switching element SW_C1L and the GND line GL. The three shunt resistors S_A1, S_B1, and S_C1 are commonly connected to the GND line GL of the first inverter 120.
第2インバータ130は、3個のレグから構成されるブリッジ回路を有する。各レグは、ハイサイドスイッチング素子、ローサイドスイッチング素子およびシャント抵抗を有する。A相レグは、ハイサイドスイッチング素子SW_A2H、ローサイドスイッチング素子SW_A2Lおよびシャント抵抗S_A2を有する。B相レグは、ハイサイドスイッチング素子SW_B2H、ローサイドスイッチング素子SW_B2Lおよびシャント抵抗S_B2を有する。C相レグは、ハイサイドスイッチング素子SW_C2H、ローサイドスイッチング素子SW_C2Lおよびシャント抵抗S_C2を有する。
Thesecond inverter 130 has a bridge circuit composed of three legs. Each leg has a high side switching element, a low side switching element and a shunt resistor. The A-phase leg has a high side switching element SW_A2H, a low side switching element SW_A2L, and a shunt resistor S_A2. The B-phase leg has a high side switching device SW_B2H, a low side switching device SW_B2L, and a shunt resistor S_B2. The C-phase leg has a high side switching device SW_C2H, a low side switching device SW_C2L, and a shunt resistor S_C2.
The
シャント抵抗S_A2は、A相電流IA2を検出するために用いられ、例えば、ローサイドスイッチング素子SW_A2LとGNDラインGLの間に接続される。シャント抵抗S_B2は、B相電流IB2を検出するために用いられ、例えば、ローサイドスイッチング素子SW_B2LとGNDラインGLの間に接続される。シャント抵抗S_C2は、C相電流IC2を検出するために用いられ、例えばローサイドスイッチング素子SW_C2LとGNDラインGLの間に接続される。3個のシャント抵抗S_A2、S_B2、S_C2は、第2インバータ130のGNDラインGLと共通に接続される。
The shunt resistor S_A2 is used to detect the A-phase current IA2, and is connected, for example, between the low side switching element SW_A2L and the GND line GL. The shunt resistor S_B2 is used to detect the B-phase current IB2, and is connected, for example, between the low side switching element SW_B2L and the GND line GL. The shunt resistor S_C2 is used to detect the C-phase current IC2, and is connected, for example, between the low side switching element SW_C2L and the GND line GL. The three shunt resistors S_A2, S_B2 and S_C2 are commonly connected to the GND line GL of thesecond inverter 130.
The shunt resistor S_A2 is used to detect the A-phase current IA2, and is connected, for example, between the low side switching element SW_A2L and the GND line GL. The shunt resistor S_B2 is used to detect the B-phase current IB2, and is connected, for example, between the low side switching element SW_B2L and the GND line GL. The shunt resistor S_C2 is used to detect the C-phase current IC2, and is connected, for example, between the low side switching element SW_C2L and the GND line GL. The three shunt resistors S_A2, S_B2 and S_C2 are commonly connected to the GND line GL of the
上述した電流センサ150は、例えば、シャント抵抗S_A1、S_B1、S_C1、S_A2、S_B2、S_C2および各シャント抵抗に流れる電流を検出する電流検出回路(不図示)を備える。
The above-described current sensor 150 includes, for example, shunt resistors S_A1, S_B1, S_C1, S_A2, S_B2 and S_C2 and a current detection circuit (not shown) that detects the current flowing in each shunt resistor.
第1インバータ120のA相レグ(具体的には、ハイサイドスイッチング素子SW_A1Hおよびローサイドスイッチング素子SW_A1Lの間のノード)は、モータ200のA相の巻線M1の一端A1に接続され、第2インバータ130のA相レグは、A相の巻線M1の他端A2に接続される。第1インバータ120のB相レグは、モータ200のB相の巻線M2の一端B1に接続され、第2インバータ130のB相レグは、巻線M2の他端B2に接続される。第1インバータ120のC相レグは、モータ200のC相の巻線M3の一端C1に接続され、第2インバータ130のC相レグは、巻線M3の他端C2に接続される。
The A phase leg of the first inverter 120 (specifically, the node between the high side switching element SW_A1H and the low side switching element SW_A1L) is connected to one end A1 of the A phase winding M1 of the motor 200, and the second inverter The 130 A-phase leg is connected to the other end A2 of the A-phase winding M1. The B-phase leg of the first inverter 120 is connected to one end B1 of the B-phase winding M2 of the motor 200, and the B-phase leg of the second inverter 130 is connected to the other end B2 of the winding M2. The C-phase leg of the first inverter 120 is connected to one end C1 of the C-phase winding M3 of the motor 200, and the C-phase leg of the second inverter 130 is connected to the other end C2 of the winding M3.
制御回路300は、第1および第2インバータ120、130の両方を用いて三相通電制御することによってモータ200を駆動する。具体的に、制御回路300は、第1インバータ110のスイッチング素子と第2インバータ140のスイッチング素子とを互いに逆位相(位相差=180°)でスイッチング制御することにより三相通電制御を行う。このとき、ヒューズISW_11、ISW_12、ISW_21、ISW_22はオンにする。例えば、スイッチング素子SW_A1L、SW_A1H、SW_A2LおよびSW_A2Hを含むHブリッジに着目すると、スイッチング素子SW_A1Lがオンすると、スイッチング素子SW_A2Lはオフし、スイッチング素子SW_A1Lがオフすると、スイッチング素子SW_A2Lはオンする。これと同様に、スイッチング素子SW_A1Hがオンすると、スイッチング素子SW_A2Hはオフし、スイッチング素子SW_A1Hがオフすると、スイッチング素子SW_A2Hはオンする。電源101から出力された電流は、ハイサイドスイッチング素子、巻線、ローサイドスイッチング素子を通ってGNDラインGLに流れる。電力変換装置100の結線は、オープン結線と称される場合がある。
The control circuit 300 drives the motor 200 by performing three-phase conduction control using both the first and second inverters 120 and 130. Specifically, the control circuit 300 performs three-phase conduction control by switching control of the switching element of the first inverter 110 and the switching element of the second inverter 140 in opposite phases (phase difference = 180 °). At this time, the fuses ISW_11, ISW_12, ISW_21, and ISW_22 are turned on. For example, focusing on the H bridge including the switching elements SW_A1L, SW_A1H, SW_A2L and SW_A2H, when the switching element SW_A1L turns on, the switching element SW_A2L turns off, and when the switching element SW_A1L turns off, the switching element SW_A2L turns on. Similarly, when the switching element SW_A1H is turned on, the switching element SW_A2H is turned off, and when the switching element SW_A1H is turned off, the switching element SW_A2H is turned on. The current output from the power supply 101 flows to the GND line GL through the high side switching element, the winding, and the low side switching element. The connection of the power conversion device 100 may be referred to as an open connection.
ここで、A相の巻線M1を流れる電流の経路の例を説明する。スイッチング素子SW_A1Hおよびスイッチング素子SW_A2Lがオンであり、スイッチング素子SW_A2Hおよびスイッチング素子SW_A1Lがオフのとき、電流は、電源101、スイッチング素子SW_A1H、巻線M1、スイッチング素子SW_A2L、GNDラインGLの順に流れる。スイッチング素子SW_A2Hおよびスイッチング素子SW_A1Lがオンであり、スイッチング素子SW_A1Hおよびスイッチング素子SW_A2Lがオフのとき、電流は、電源101、スイッチング素子SW_A2H、巻線M1、スイッチング素子SW_A1L、GNDラインGLの順に流れる。
Here, an example of a current path flowing through the A-phase winding M1 will be described. When the switching element SW_A1H and the switching element SW_A2L are on and the switching element SW_A2H and the switching element SW_A1L are off, current flows in the order of the power supply 101, the switching element SW_A1H, the winding M1, the switching element SW_A2L, and the GND line GL. When the switching element SW_A2H and the switching element SW_A1L are on and the switching element SW_A1H and the switching element SW_A2L are off, current flows in the order of the power supply 101, the switching element SW_A2H, the winding M1, the switching element SW_A1L, and the GND line GL.
なお、スイッチング素子SW_A1Hから巻線M1へ流れた電流の一部が、スイッチング素子SW_A2Hへ流れる場合がある。すなわち、スイッチング素子SW_A1Hから巻線M1へ流れた電流が、スイッチング素子SW_A2Lとスイッチング素子SW_A2Hとに分岐して流れる場合がある。同様に、スイッチング素子SW_A2Hから巻線M1へ流れた電流の一部が、スイッチング素子SW_A1Hへ流れる場合がある。
Note that part of the current flowing from the switching element SW_A1H to the winding M1 may flow to the switching element SW_A2H. That is, the current flowing from the switching element SW_A1H to the winding M1 may branch to the switching element SW_A2L and the switching element SW_A2H and flow. Similarly, part of the current flowing from the switching element SW_A2H to the winding M1 may flow to the switching element SW_A1H.
次に、B相の巻線M2を流れる電流の経路の例を説明する。スイッチング素子SW_B1Hおよびスイッチング素子SW_B2Lがオンであり、スイッチング素子SW_B2Hおよびスイッチング素子SW_B1Lがオフのとき、電流は、電源101、スイッチング素子SW_B1H、巻線M2、スイッチング素子SW_B2L、GNDラインGLの順に流れる。スイッチング素子SW_B2Hおよびスイッチング素子SW_B1Lがオンであり、スイッチング素子SW_B1Hおよびスイッチング素子SW_B2Lがオフのとき、電流は、電源101、スイッチング素子SW_B2H、巻線M2、スイッチング素子SW_B1L、GNDラインGLの順に流れる。
Next, an example of a current path flowing through the B-phase winding M2 will be described. When the switching element SW_B1H and the switching element SW_B2L are on and the switching element SW_B2H and the switching element SW_B1L are off, current flows through the power supply 101, the switching element SW_B1H, the winding M2, the switching element SW_B2L, and the GND line GL in this order. When the switching element SW_B2H and the switching element SW_B1L are on and the switching element SW_B1H and the switching element SW_B2L are off, current flows through the power supply 101, the switching element SW_B2H, the winding M2, the switching element SW_B1L, and the GND line GL in this order.
なお、上記と同様に、スイッチング素子SW_B1Hから巻線M2へ流れた電流の一部が、スイッチング素子SW_B2Hへ流れる場合がある。また、スイッチング素子SW_B2Hから巻線M2へ流れた電流の一部が、スイッチング素子SW_B1Hへ流れる場合がある。
In the same manner as described above, a part of the current flowing from the switching element SW_B1H to the winding M2 may flow to the switching element SW_B2H. Further, part of the current flowing from the switching element SW_B2H to the winding M2 may flow to the switching element SW_B1H.
次に、C相の巻線M3を流れる電流の経路の例を説明する。スイッチング素子SW_C1Hおよびスイッチング素子SW_C2Lがオンであり、スイッチング素子SW_C2Hおよびスイッチング素子SW_C1Lがオフのとき、電流は、電源101、スイッチング素子SW_C1H、巻線M3、スイッチング素子SW_C2L、GNDラインGLの順に流れる。スイッチング素子SW_C2Hおよびスイッチング素子SW_C1Lがオンであり、スイッチング素子SW_C1Hおよびスイッチング素子SW_C2Lがオフのとき、電流は、電源101、スイッチング素子SW_C2H、巻線M3、スイッチング素子SW_C1L、GNDラインGLの順に流れる。
Next, an example of a current path flowing through the C-phase winding M3 will be described. When the switching element SW_C1H and the switching element SW_C2L are on and the switching element SW_C2H and the switching element SW_C1L are off, current flows in the order of the power supply 101, the switching element SW_C1H, the winding M3, the switching element SW_C2L, and the GND line GL. When the switching element SW_C2H and the switching element SW_C1L are on and the switching element SW_C1H and the switching element SW_C2L are off, current flows in the order of the power supply 101, the switching element SW_C2H, the winding M3, the switching element SW_C1L, and the GND line GL.
なお、上記と同様に、スイッチング素子SW_C1Hから巻線M3へ流れた電流の一部が、スイッチング素子SW_C2Hへ流れる場合がある。また、スイッチング素子SW_C2Hから巻線M3へ流れた電流の一部が、スイッチング素子SW_C1Hへ流れる場合がある。
In the same manner as described above, a part of the current flowing from the switching element SW_C1H to the winding M3 may flow to the switching element SW_C2H. Further, part of the current flowing from the switching element SW_C2H to the winding M3 may flow to the switching element SW_C1H.
図3は、三相通電制御に従ってインバータユニット100を制御したときにモータ200のA相、B相およびC相の各巻線に流れる電流値をプロットして得られる電流波形(正弦波)を例示している。横軸は、モータ電気角(deg)を示し、縦軸は電流値(A)を示している。図3の電流波形において、電気角30°毎に電流値をプロットしている。Ipkは各相の最大電流値(ピーク電流値)を表している。例えば、制御回路300は、図3に示す電流波形を得るためのPWM信号を生成することができる。
FIG. 3 exemplifies a current waveform (sine wave) obtained by plotting current values flowing in the A-phase, B-phase, and C-phase windings of the motor 200 when the inverter unit 100 is controlled according to three-phase energization control. ing. The horizontal axis indicates the motor electrical angle (deg), and the vertical axis indicates the current value (A). In the current waveform of FIG. 3, current values are plotted every 30 ° of electrical angle. I pk represents the maximum current value (peak current value) of each phase. For example, the control circuit 300 can generate a PWM signal for obtaining the current waveform shown in FIG.
〔2.故障診断〕
次に、本実施形態による故障診断方法を説明する。ここでは、図1に示す電力変換装置1000を例に、スイッチング素子の故障の有無を診断する方法を説明する。
[2. Failure diagnosis]
Next, a failure diagnosis method according to the present embodiment will be described. Here, a method of diagnosing the presence or absence of a failure of the switching element will be described by taking the
スイッチング素子がFETである場合、故障には大きく分けて「オープン故障」と「ショート故障」とがある。「オープン故障」は、FETのソース-ドレイン間が開放する故障(換言すると、ソース-ドレイン間の抵抗が常時ハイインピーダンスになること)を指す。「ショート故障」は、FETのソース-ドレイン間が常時短絡する故障を指す。本実施形態の故障診断では、スイッチング素子のオープン故障を検出する。
When the switching element is an FET, the failure is roughly classified into "open failure" and "short failure". "Open fault" refers to a fault in which the source-drain of the FET is open (in other words, the source-drain resistance is always in a high impedance state). "Short circuit failure" refers to a failure in which the source-drain of the FET is constantly shorted. In the failure diagnosis of the present embodiment, an open failure of the switching element is detected.
本実施形態による故障診断方法を実現するためのアルゴリズムは、例えばマイクロコントローラ、特定用途向け集積回路(ASIC)またはFPGAなどのハードウェアのみで実現することもできるし、ハードウェアおよびソフトウェアの組み合わせによっても実現することができる。
The algorithm for realizing the fault diagnosis method according to the present embodiment can be realized only by hardware such as a microcontroller, an application specific integrated circuit (ASIC) or an FPGA, or by a combination of hardware and software. It can be realized.
図4は、モータ制御全般を行うためのコントローラ340の機能ブロックを例示している。図5は、コントローラ340が実行する故障診断の一例を示すフローチャートである。
FIG. 4 exemplifies functional blocks of the controller 340 for performing motor control in general. FIG. 5 is a flowchart showing an example of failure diagnosis that the controller 340 executes.
本明細書において、機能ブロック図における各ブロックは、ハードウェア単位ではなく機能ブロック単位で示される。モータ制御および故障診断に用いるソフトウェアは、例えば、各機能ブロックに対応した特定の処理を実行させるためのコンピュータプログラムを構成するモジュールであり得る。そのようなコンピュータプログラムは、例えばROM360に格納される。コントローラ340は、ROM360から命令を読み出して各処理を逐次実行することができる。
In the present specification, each block in the functional block diagram is shown not in hardware but in functional block. The software used for motor control and failure diagnosis may be, for example, a module that configures a computer program for executing specific processing corresponding to each functional block. Such computer programs are stored, for example, in the ROM 360. The controller 340 can read an instruction from the ROM 360 and sequentially execute each process.
コントローラ340は、入力回路330(図1)を介して、電流センサ150が検出した電流値を受け取る。電流センサ150が上記のシャント抵抗を用いて各相を流れる電流を検出することで、第1および第2インバータ120、130が備える複数のスイッチング素子のそれぞれを流れる電流を把握することができる。電圧検出回路380(図1)は、例えば、第1および第2インバータ120、130が備える複数のスイッチング素子のそれぞれにかかる電圧を検出して、コントローラ340へ出力する。
The controller 340 receives the current value detected by the current sensor 150 via the input circuit 330 (FIG. 1). The current sensor 150 detects the current flowing in each phase using the above-described shunt resistor, so that the current flowing in each of the plurality of switching elements provided in the first and second inverters 120 and 130 can be grasped. The voltage detection circuit 380 (FIG. 1) detects the voltage applied to each of the plurality of switching elements included in the first and second inverters 120 and 130, for example, and outputs the voltage to the controller 340.
コントローラ340は、例えば、故障診断ユニット800およびモータ制御ユニット900を有する。故障診断ユニット800は、複数のスイッチング素子のそれぞれに関する電流および/または電圧の情報を用いて、故障の有無を診断する。故障診断ユニット800は、故障の有無の診断結果を示す信号をモータ制御ユニット900に出力する。
The controller 340 includes, for example, a fault diagnosis unit 800 and a motor control unit 900. The failure diagnosis unit 800 diagnoses the presence or absence of a failure using current and / or voltage information on each of the plurality of switching elements. The failure diagnosis unit 800 outputs a signal indicating the diagnosis result of the presence or absence of a failure to the motor control unit 900.
モータ制御ユニット900は、例えばベクトル制御を用いて、第1および第2インバータ120、130のスイッチング素子のスイッチング動作の全般を制御するPWM信号を、診断結果に基づいて生成する。モータ制御ユニット900は、PWM信号を駆動回路350に出力する。
The motor control unit 900 generates, based on the diagnosis result, a PWM signal that controls the overall switching operation of the switching elements of the first and second inverters 120 and 130 using, for example, vector control. The motor control unit 900 outputs a PWM signal to the drive circuit 350.
モータ制御ユニット900は、第1および第2インバータ120、130の制御を診断結果に応じて切替える。具体的に説明すると、モータ制御ユニット900は、第1および第2インバータ120、130のスイッチング素子のオン・オフ動作を診断結果に基づいて決定することが可能である。モータ制御ユニット900は、さらに、ヒューズISW_11、ISW_12、ISW_21およびISW_22のオン・オフ動作を診断結果に基づいて決定することが可能である。
The motor control unit 900 switches control of the first and second inverters 120 and 130 according to the diagnosis result. Specifically, the motor control unit 900 can determine the on / off operation of the switching elements of the first and second inverters 120 and 130 based on the diagnosis result. The motor control unit 900 can further determine the on / off operation of the fuses ISW_11, ISW_12, ISW_21 and ISW_22 based on the diagnosis result.
本明細書において、説明の便宜上、各機能ブロックをユニットと表記する場合がある。当然に、この表記は、各機能ブロックを、ハードウェアまたはソフトウェアに限定解釈する意図で用いられない。
In the present specification, each functional block may be referred to as a unit for convenience of explanation. Naturally, this notation is not used with the intention of limiting interpretation of each functional block to hardware or software.
各機能ブロックはソフトウェアとしてコントローラ340に実装される場合、そのソフトウェアの実行主体は、例えばコントローラ340のコアであり得る。上述したように、コントローラ340は、FPGAによって実現され得る。その場合、全てまたは一部の機能ブロックは、ハードウェアで実現され得る。
When each functional block is implemented as software in the controller 340, the execution subject of the software may be, for example, the core of the controller 340. As mentioned above, controller 340 may be implemented by an FPGA. In that case, all or part of the functional blocks can be realized in hardware.
複数のFPGAを用いて処理を分散させることにより、特定のコンピュータの演算負荷を分散させることができる。その場合、図示される機能ブロックの全てまたは一部は、複数のFPGAに分散して実装され得る。複数のFPGAは、例えば車載のコントロールエリアネットワーク(CAN)によって互いに通信可能に接続され、データの送受信を行うことが可能である。
By distributing the processing using a plurality of FPGAs, the computing load of a specific computer can be distributed. In that case, all or part of the illustrated functional blocks may be distributed and implemented in a plurality of FPGAs. The plurality of FPGAs are communicably connected to one another by, for example, a vehicle-mounted control area network (CAN), and can transmit and receive data.
第1および第2インバータ120、130が備える複数のスイッチング素子に故障が発生していないとき、制御回路300は、正常時の制御モードとして上記の三相通電制御を実行する。三相通電制御において、複数のスイッチング素子のそれぞれは、オンとオフの切替えを繰り返す。故障診断ユニット800は、第1および第2インバータ120、130が備える12個のスイッチング素子SW_A1H、SW_A1L、SW_B1H、SW_B1L、SW_C1H、SW_C1L、SW_A2H、SW_A2L、SW_B2H、SW_B2L、SW_C2H、SW_C2Lのそれぞれに対して、本実施形態の故障診断を実行する。
When no failure occurs in the plurality of switching elements included in the first and second inverters 120 and 130, the control circuit 300 executes the above-described three-phase conduction control as a control mode in the normal state. In the three-phase energization control, each of the plurality of switching elements repeats switching between on and off. The failure diagnosis unit 800 includes 12 switching elements SW_A1H, SW_A1L, SW_B1H, SW_B1L, SW_C1H, SW_C1L, SW_A2H, SW_A2L, SW_A2L, SW_B2H, SW_B2L, SW_C2H, and 12 of the first and second inverters 120 and 130. , Execute the fault diagnosis of the present embodiment.
〔2-1.電流値を用いたスイッチング素子の故障診断〕
図5を参照しながら、スイッチング素子を流れる電流を検出してスイッチング素子の故障の有無を診断する動作を説明する。スイッチング素子がFETである場合、スイッチング素子を流れる電流は、FETのソースとドレインとの間を流れる電流である。ここでは、スイッチング素子を流れる電流の値を用いてスイッチング素子の故障の有無を診断する故障診断ユニット800を故障診断ユニット800_Iと表現する。
[2-1. Failure diagnosis of switching element using current value]
The operation of detecting the current flowing through the switching element and diagnosing the presence or absence of a failure of the switching element will be described with reference to FIG. When the switching element is a FET, the current flowing through the switching element is a current flowing between the source and the drain of the FET. Here,
ここでは、第1および第2インバータ120、130が備える複数のスイッチング素子のうちの1つであるスイッチング素子SW_A1Hの故障の有無を診断する例を説明する。この故障診断は、スイッチング素子SW_A1Hをオンにする動作を行う毎に繰り返し行され得る。
Here, an example of diagnosing the presence or absence of a failure of the switching element SW_A1H which is one of the plurality of switching elements provided in the first and second inverters 120 and 130 will be described. This failure diagnosis can be repeated every time the switching element SW_A1H is turned on.
故障診断ユニット800_Iは、スイッチング素子SW_A1Hがオン状態に制御されたときにスイッチング素子SW_A1Hを流れる電流を検出する(ステップS101)。例えば、スイッチング素子SW_A1Hおよびスイッチング素子SW_A2Lがオンであり、スイッチング素子SW_A2Hおよびスイッチング素子SW_A1Lがオフのとき、電流は、電源101、スイッチング素子SW_A1H、巻線M1、スイッチング素子SW_A2L、シャント抵抗S_A2、GNDラインGLの順に流れる。シャント抵抗S_A2を流れる電流の大きさは、スイッチング素子SW_A1Hを流れる電流の大きさに該当する。故障診断ユニット800_Iは、例えば、シャント抵抗S_A2を流れる電流からスイッチング素子SW_A1Hを流れる電流の大きさを検出することができる。
The failure diagnosis unit 800_I detects the current flowing through the switching element SW_A1H when the switching element SW_A1H is controlled to the on state (step S101). For example, when the switching element SW_A1H and the switching element SW_A2L are on and the switching element SW_A2H and the switching element SW_A1L are off, current flows from the power supply 101, the switching element SW_A1H, the winding M1, the switching element SW_A2L, the shunt resistor S_A2, the GND line It flows in order of GL. The magnitude of the current flowing through the shunt resistor S_A2 corresponds to the magnitude of the current flowing through the switching element SW_A1H. The failure diagnosis unit 800_I can detect, for example, the magnitude of the current flowing through the switching element SW_A1H from the current flowing through the shunt resistor S_A2.
次に、故障診断ユニット800_Iは、スイッチング素子SW_A1Hがオン状態に制御されたときにスイッチング素子SW_A1Hを流れる電流が所定電流未満であるか判定する(ステップS102)。所定電流は例えば10mAである。なお、10mAは一例であり、本開示の実施形態はそれに限定されない。
Next, the failure diagnosis unit 800_I determines whether the current flowing through the switching element SW_A1H is less than a predetermined current when the switching element SW_A1H is controlled to be in the on state (step S102). The predetermined current is, for example, 10 mA. Note that 10 mA is an example, and the embodiment of the present disclosure is not limited thereto.
この例では、スイッチング素子SW_A1Hが故障していない、すなわち正常である場合は、ゲート制御信号が供給されたスイッチング素子SW_A1Hには10mA以上の電流が流れる。スイッチング素子SW_A1Hがオープン故障している場合、ゲート制御信号が供給されたスイッチング素子SW_A1Hを流れる電流は10mA未満になる。
In this example, when the switching element SW_A1H is not broken, that is, normal, a current of 10 mA or more flows in the switching element SW_A1H to which the gate control signal is supplied. When the switching element SW_A1H has an open failure, the current flowing through the switching element SW_A1H to which the gate control signal is supplied is less than 10 mA.
故障診断ユニット800_Iは、検出した電流は10mA未満でないと判定した場合、スイッチング素子SW_A1Hは正常であると判定する(ステップS108)。故障診断ユニット800_Iは、スイッチング素子SW_A1Hが正常であることを示す信号をモータ制御ユニット900に出力し、ステップS101の処理に戻る。
If the failure diagnosis unit 800_I determines that the detected current is not less than 10 mA, it determines that the switching element SW_A1H is normal (step S108). The failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and returns to the process of step S101.
ステップS102において、検出した電流が10mA未満であると判定した場合、ステップS103の処理に進む。ステップS103において、故障診断ユニット800_Iは、スイッチング素子SW_A1Hがオン状態に制御されたときに、スイッチング素子SW_A1Hを流れる電流が10mA未満になる時間を検出する。次に、故障診断ユニット800_Iは、検出した時間が所定時間以上であるか判定する(ステップS104)。所定時間は例えば50μsである。なお、50μsは一例であり、本開示の実施形態はそれに限定されない。所定時間は、モータ200の構造および回転数に応じて設定され得る。
If it is determined in step S102 that the detected current is less than 10 mA, the process proceeds to step S103. In step S103, when the switching element SW_A1H is controlled to be in the on state, the failure diagnosis unit 800_I detects the time when the current flowing through the switching element SW_A1H is less than 10 mA. Next, the failure diagnosis unit 800_I determines whether the detected time is equal to or longer than a predetermined time (step S104). The predetermined time is, for example, 50 μs. Note that 50 μs is an example, and the embodiment of the present disclosure is not limited thereto. The predetermined time may be set in accordance with the structure and rotational speed of motor 200.
スイッチング素子SW_A1Hが正常である場合であっても、ノイズ等の外乱により、オン状態のスイッチング素子SW_A1Hを流れる電流が10mA未満になることが短時間発生し得る。このようなノイズに起因した異常値に基づいて、スイッチング素子SW_A1Hは異常であると判定してしまうと、正しい判定ができない。そこで、本実施形態では、電流が10mA未満になる時間が短時間(例えば50μs未満)である場合は、スイッチング素子SW_A1Hは正常であると判定する。
Even when the switching element SW_A1H is normal, disturbance such as noise may cause the current flowing through the switching element SW_A1H in the on state to be less than 10 mA for a short time. If the switching element SW_A1H is determined to be abnormal based on an abnormal value caused by such noise, correct determination can not be made. Therefore, in the present embodiment, when the time when the current is less than 10 mA is short (for example, less than 50 μs), it is determined that the switching element SW_A1H is normal.
故障診断ユニット800_Iは、検出した時間が50μs以上でないと判定した場合、スイッチング素子SW_A1Hは正常であると判定する(ステップS108)。故障診断ユニット800_Iは、スイッチング素子SW_A1Hが正常であることを示す信号をモータ制御ユニット900に出力し、ステップS101の処理に戻る。
When it is determined that the detected time is not 50 μs or more, the failure diagnosis unit 800_I determines that the switching element SW_A1H is normal (step S108). The failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and returns to the process of step S101.
ステップS104において、検出した時間が50μs以上であると判定した場合、ステップS105の処理に進む。ステップS105において、故障診断ユニット800_Iは、検出した時間が50μs以上になる回数をカウントする。次に、故障診断ユニット800_Iは、カウントした合計回数が所定回数以上であるか判定する(ステップS106)。所定回数は例えば3回である。なお、3回は一例であり、本開示の実施形態はそれに限定されない。所定回数は複数回数であればよく、2回でもよく、4回以上でもよい。
If it is determined in step S104 that the detected time is 50 μs or more, the process proceeds to step S105. In step S105, the failure diagnosis unit 800_I counts the number of times that the detected time is 50 μs or more. Next, the failure diagnosis unit 800_I determines whether the counted total number is equal to or more than a predetermined number (step S106). The predetermined number of times is, for example, three times. Note that three times is an example, and the embodiment of the present disclosure is not limited thereto. The predetermined number of times may be a plurality of times, may be two, or may be four or more.
検出した時間が50μs以上である場合、スイッチング素子SW_A1Hはオープン故障している可能性があるが、それを1回検出したのみの段階では、未だ故障とは判定しない。スイッチング素子SW_A1Hが本当にオープン故障している場合、制御回路300がスイッチング素子SW_A1Hにゲート制御信号を供給するたびに、ステップS104の処理において、検出した時間は50μs以上であると判定される。検出した時間は50μs以上であるとの判定が複数回(例えば3回)行われた場合、スイッチング素子SW_A1Hはオープン故障していると判定する。
If the detected time is 50 μs or more, the switching element SW_A1H may have an open failure, but it is not yet determined as a failure at a stage where it is detected only once. In the case where the switching element SW_A1H really has an open failure, each time the control circuit 300 supplies the gate control signal to the switching element SW_A1H, it is determined that the detected time is 50 μs or more in the process of step S104. When the determination that the detected time is 50 μs or more is performed a plurality of times (for example, three times), it is determined that the switching element SW_A1H has an open failure.
ステップS106において、カウントした合計回数が3回以上でないと判定した場合、故障診断ユニット800_Iは、スイッチング素子SW_A1Hは正常であると判定する(ステップS108)。故障診断ユニット800_Iは、スイッチング素子SW_A1Hが正常であることを示す信号をモータ制御ユニット900に出力し、ステップS101の処理に戻る。
If it is determined in step S106 that the counted total number is not three or more, the failure diagnosis unit 800_I determines that the switching element SW_A1H is normal (step S108). The failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and returns to the process of step S101.
ステップS106において、カウントした合計回数が3回以上であると判定した場合、スイッチング素子SW_A1Hはオープン故障していると判定する(ステップS107)。故障診断ユニット800_Iは、スイッチング素子SW_A1Hは故障していることを示す信号をモータ制御ユニット900に出力する。故障診断ユニット800_Iは、スイッチング素子SW_A1Hが故障していることを示す信号をモータ制御ユニット900に出力した後、ステップS101の処理に戻ってもよい。
If it is determined in step S106 that the total number of times counted is three or more, it is determined that the switching element SW_A1H has an open failure (step S107). The failure diagnosis unit 800_I outputs a signal indicating that the switching element SW_A1H is broken to the motor control unit 900. After outputting a signal indicating that the switching element SW_A1H is broken to the motor control unit 900, the failure diagnosis unit 800_I may return to the process of step S101.
モータ制御ユニット900は、スイッチング素子SW_A1Hが故障していることを示す信号を受け取ると、モータ200の制御モードを正常時の制御モードから異常時の制御モードに変更する。
When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
異常時の制御モードは、例えば、故障したインバータに巻線の中性点を構成し、故障していないインバータによってモータ200を駆動する制御モードである。スイッチング素子SW_A1Hが故障している場合、モータ制御ユニット900は、ヒューズISW_11、ISW_12をオフにする制御を行う。これにより、故障したスイッチング素子SW_A1Hを備える第1インバータ120は、電源およびGNDから分離される。そして、例えば、スイッチング素子SW_A1H、SW_B1H、SW_C1Hをオフにし、スイッチング素子SW_A1L、SW_B1L、SW_C1Lをオンにすることで、第1インバータ120に中性点が構成される。この中性点を用いることで、故障していない第2インバータ130によってモータ200を駆動することができる。
The control mode at the time of abnormality is, for example, a control mode in which the neutral point of the winding is formed in the failed inverter, and the motor 200 is driven by the non-failed inverter. When the switching element SW_A1H is broken, the motor control unit 900 performs control to turn off the fuses ISW_11 and ISW_12. Accordingly, the first inverter 120 including the failed switching element SW_A1H is separated from the power supply and the GND. Then, for example, the switching elements SW_A1H, SW_B1H, and SW_C1H are turned off, and the switching elements SW_A1L, SW_B1L, and SW_C1L are turned on, whereby the first inverter 120 is configured with a neutral point. By using this neutral point, the motor 200 can be driven by the second inverter 130 which has not failed.
また、異常時の制御モードは、二相通電制御であってもよい。A相に属するスイッチング素子SW_A1Hが故障している場合、モータ制御ユニット900は、A相に属する全てのスイッチング素子SW_A1H、SW_A1L、SW_A2H、SW_A2Lをオフにする。そして、B相およびC相に属するスイッチング素子SW_B1H、SW_B1L、SW_B2H、SW_B2L、SW_C1H、SW_C1L、SW_C2H、SW_C2Lを用いて、二相通電制御を行う。このように、故障していない相を用いてモータ200を駆動することができる。
Further, the control mode at the time of abnormality may be two-phase energization control. When the switching element SW_A1H belonging to the A phase fails, the motor control unit 900 turns off all the switching elements SW_A1H, SW_A1L, SW_A2H, and SW_A2L belonging to the A phase. Then, two-phase conduction control is performed using switching elements SW_B1H, SW_B1L, SW_B2H, SW_B2L, SW_C1H, SW_C1L, SW_C2H, and SW_C2L belonging to the B phase and the C phase. In this way, the motor 200 can be driven using a phase that has not failed.
なお、異常時の制御モードは、シャットダウンであってもよい。シャットダウンは、モータ200の動作を停止させる制御である。
The control mode at the time of abnormality may be shutdown. The shutdown is control for stopping the operation of the motor 200.
故障診断ユニット800_Iは、第1および第2インバータ120、130が備える複数のスイッチング素子におけるスイッチング素子SW_A1H以外のスイッチング素子に対しても、上記のスイッチング素子SW_A1Hに対する故障診断と同様の故障診断を実行する。
The fault diagnosis unit 800 _I executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
本実施形態の故障診断では、スイッチング素子に故障が発生した場合、複数のスイッチング素子のうちのどのスイッチング素子が故障したのかを特定することができる。故障したスイッチング素子を特定できることにより、故障箇所に応じた適切な制御を行うことができる。
In the failure diagnosis of the present embodiment, when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
次に、図6を用いて、検出したスイッチング素子を流れる電流を検出してスイッチング素子の故障の有無を診断する動作の一例を説明する。
Next, an example of the operation of detecting the current flowing through the detected switching element and diagnosing the presence or absence of a failure of the switching element will be described with reference to FIG.
図6に示す故障診断ユニット800_Iは、検出したスイッチング素子を流れる電流の値を用いて、スイッチング素子の故障の有無を診断する故障診断ユニット800である。ここでは、第1および第2インバータ120、130が備える複数のスイッチング素子のうちの1つであるスイッチング素子SW_A1Hの故障の有無を診断する例を説明する。
The failure diagnosis unit 800_I illustrated in FIG. 6 is a failure diagnosis unit 800 that diagnoses the presence or absence of a failure of the switching element using the value of the current flowing through the detected switching element. Here, an example of diagnosing the presence or absence of a failure of the switching element SW_A1H which is one of the plurality of switching elements provided in the first and second inverters 120 and 130 will be described.
故障診断ユニット800_Iには、検出したスイッチング素子SW_A1Hの電流値(図6中の“I”)が入力される。また、故障診断ユニット800_Iには、スイッチング素子SW_A1Hをオンにするゲート制御信号(図6中の“S”)が入力される。絶対値ブロック811は、検出したスイッチング素子SW_A1Hの電流の絶対値を求める。比較器(Comparator)812は、得られた絶対値と、予め決められた電流下限値とを比較する。この電流下限値は、図5に示すステップS102の処理において用いる所定電流に相当し、例えば10mAである。なお、10mAは一例であり、本開示の実施形態はそれに限定されない。
The current value ("I" in FIG. 6) of the detected switching element SW_A1H is input to the failure diagnosis unit 800_I. Further, a gate control signal ("S" in FIG. 6) for turning on the switching element SW_A1H is input to the failure diagnosis unit 800_I. The absolute value block 811 obtains the absolute value of the detected current of the switching element SW_A1H. A comparator (Comparator) 812 compares the obtained absolute value with a predetermined current lower limit value. The current lower limit value corresponds to a predetermined current used in the process of step S102 shown in FIG. Note that 10 mA is an example, and the embodiment of the present disclosure is not limited thereto.
比較器812は、電流の絶対値が10mA以上である場合は1を出力し、10mA未満である場合は0を出力する。NOTブロック821は、“NOT”の論理演算を行い、比較器812の出力値を反転させる。
The comparator 812 outputs 1 when the absolute value of the current is 10 mA or more, and outputs 0 when it is less than 10 mA. The NOT block 821 performs the logical operation "NOT" and inverts the output value of the comparator 812.
ANDブロック822には、NOTブロック821の出力値とゲート制御信号とが入力される。ここで、スイッチング素子SW_A1HをオンにするためのHighレベルのゲート制御信号を1とし、スイッチング素子SW_A1HをオフにするためのLowレベルのゲート制御信号を0とする。ANDブロック822は、“AND”の論理演算を行う。ANDブロック822は、NOTブロック821の出力値およびゲート制御信号の両方が1のときに、1を出力する。すなわち、ANDブロック822は、スイッチング素子SW_A1Hがオン状態に制御されたときにスイッチング素子SW_A1Hを流れる電流が下限値未満である場合に、1を出力する。それ以外の場合は、ANDブロック822は0を出力する。
The output value of the NOT block 821 and the gate control signal are input to the AND block 822. Here, a high level gate control signal for turning on the switching element SW_A1H is 1, and a low level gate control signal for turning off the switching element SW_A1H is 0. The AND block 822 performs a logical operation of "AND". The AND block 822 outputs 1 when both the output value of the NOT block 821 and the gate control signal are 1. That is, the AND block 822 outputs 1 when the current flowing through the switching element SW_A1H is less than the lower limit value when the switching element SW_A1H is controlled to be in the on state. Otherwise, the AND block 822 outputs 0.
ORブロック832には、ANDブロック822の出力値と比較器841の出力値とが入力される。ORブロック832は、“OR”の論理演算を行う。比較器841が出力する初期値は0である。ORブロック832は、ANDブロック822の出力値および比較器841の出力値の少なくとも一方が1のときは、1を出力する。ORブロック832は、ANDブロック822の出力値および比較器841の出力値の両方が0のときは、0を出力する。NOTブロック833は、“NOT”の論理演算を行い、ORブロック832の出力値を反転させる。
The output value of the AND block 822 and the output value of the comparator 841 are input to the OR block 832. The OR block 832 performs the logical operation of “OR”. The initial value output by the comparator 841 is zero. The OR block 832 outputs 1 when at least one of the output value of the AND block 822 and the output value of the comparator 841 is 1. The OR block 832 outputs 0 when both the output value of the AND block 822 and the output value of the comparator 841 are 0. The NOT block 833 performs the logical operation “NOT” and inverts the output value of the OR block 832.
積分器(Integrator)831は、ANDブロック822の出力値を積算して出力する。比較器841は、積分器831の出力値と第1基準値とを比較する。比較器851は、積分器831の出力
値と第2基準値とを比較する。 An integrator (Integrator) 831 integrates and outputs the output value of the AND block 822. Thecomparator 841 compares the output value of the integrator 831 with the first reference value. The comparator 851 compares the output value of the integrator 831 with the second reference value.
値と第2基準値とを比較する。 An integrator (Integrator) 831 integrates and outputs the output value of the AND block 822. The
図7は、ANDブロック822の出力値、積分器831の出力値、比較器841の出力値の関係を示す図である。図7の横軸は時間を表している。第1基準値は、図5に示すステップS104の処理において用いる所定時間に相当する値である。例えば、所定時間50μsに相当する積分器831の出力値を10とする。積分器831がハードウェアである場合等、積分器831の出力値を電圧で表すと、出力値“10”は、例えば積分器831の出力電圧1.0Vに相当する。
FIG. 7 is a diagram showing the relationship between the output value of the AND block 822, the output value of the integrator 831, and the output value of the comparator 841. The horizontal axis of FIG. 7 represents time. The first reference value is a value corresponding to a predetermined time used in the process of step S104 shown in FIG. For example, the output value of the integrator 831 corresponding to the predetermined time 50 μs is set to 10. When the output value of the integrator 831 is represented by a voltage, for example, when the integrator 831 is hardware, the output value “10” corresponds to, for example, 1.0 V of the output voltage of the integrator 831.
上述したように、スイッチング素子SW_A1Hが正常である場合であっても、ノイズ等の外乱により、オン状態のスイッチング素子SW_A1Hを流れる電流が10mA未満になることが短時間発生し得る。図7の例では、ANDブロック822が1を10μsの時間出力している部分がノイズに該当する。積分器831は、10μsの期間、ANDブロック822の出力値を積算した値を出力する。図7の例では、積分器831は2を出力する。比較器841は、積分器831の出力値“2”は第1基準値“10”未満であることから、0を出力する。
As described above, even when the switching element SW_A1H is normal, disturbance such as noise may cause the current flowing through the switching element SW_A1H in the on state to be less than 10 mA for a short time. In the example of FIG. 7, the portion where the AND block 822 outputs 1 for 10 μs corresponds to noise. The integrator 831 outputs a value obtained by integrating the output value of the AND block 822 for a period of 10 μs. In the example of FIG. 7, the integrator 831 outputs 2. The comparator 841 outputs 0 because the output value “2” of the integrator 831 is less than the first reference value “10”.
スイッチング素子SW_A1Hがオフになると、ANDブロック822は0を出力する。ORブロック832は、ANDブロック822の出力値および比較器841の出力値の両方が0のときは、0を出力する。これに応じて、NOTブロック833は1を出力する。積分器831は、NOTブロック833から1が入力されると、積算した値をリセットする。
When the switching element SW_A1H is turned off, the AND block 822 outputs 0. The OR block 832 outputs 0 when both the output value of the AND block 822 and the output value of the comparator 841 are 0. In response to this, the NOT block 833 outputs "1". The integrator 831 resets the integrated value when 1 is input from the NOT block 833.
一方、ANDブロック822が1を出力する時間が50μs以上になると、積分器831が積算して出力する値は10以上になる。比較器841は、積分器831の出力値が第1基準値“10”以上であることから、1を出力する。
On the other hand, when the time when the AND block 822 outputs 1 becomes 50 μs or more, the value integrated by the integrator 831 becomes 10 or more. The comparator 841 outputs 1 because the output value of the integrator 831 is equal to or greater than the first reference value “10”.
比較器841の出力値が1になることにより、スイッチング素子SW_A1Hがオフになっても、ORブロック832は1を出力し、NOTブロック833は0を出力する。積分器831は、NOTブロック833から0が入力されると、積算した値を保持したまま積算を続ける。積算値のリセットは行わない。
Since the output value of the comparator 841 becomes 1, the OR block 832 outputs 1 and the NOT block 833 outputs 0 even if the switching element SW_A1H is turned off. When 0 is input from the NOT block 833, the integrator 831 continues integration while maintaining the integrated value. Reset of integrated value is not performed.
図8は、ANDブロック822の出力値、積分器831の出力値、比較器851の出力値の関係を示す図である。図8の横軸は時間を表している。第2基準値は、図5に示すステップS106の処理において用いる所定回数に相当する値である。例えば、カウント回数3回に相当する積分器831の出力値を30とする。
FIG. 8 is a diagram showing the relationship between the output value of the AND block 822, the output value of the integrator 831, and the output value of the comparator 851. The horizontal axis of FIG. 8 represents time. The second reference value is a value corresponding to a predetermined number of times used in the process of step S106 shown in FIG. For example, the output value of the integrator 831 corresponding to three counts is set to 30.
比較器841の出力値が1になった場合、積分器831は、ANDブロック822の出力値を積算し続ける。比較器851は、積分器831の出力値が第2基準値“30”未満である間は、0を出力する。比較器851は、積分器831の出力値が第2基準値“30”以上になると1を出力する。この比較器851の出力値“1”が、スイッチング素子SW_A1Hは故障していることを示す信号となり、モータ制御ユニット900に入力される。
When the output value of the comparator 841 becomes 1, the integrator 831 continues to integrate the output value of the AND block 822. The comparator 851 outputs 0 while the output value of the integrator 831 is less than the second reference value “30”. The comparator 851 outputs 1 when the output value of the integrator 831 becomes equal to or greater than the second reference value “30”. The output value “1” of the comparator 851 becomes a signal indicating that the switching element SW_A1H is broken, and is input to the motor control unit 900.
積分器831の出力値が第2基準値“30”未満である間は、比較器851は0を出力する。この比較器851の出力値“0”が、スイッチング素子SW_A1Hは正常であることを示す信号となり、モータ制御ユニット900に入力される。
While the output value of theintegrator 831 is less than the second reference value “30”, the comparator 851 outputs 0. The output value “0” of the comparator 851 becomes a signal indicating that the switching element SW_A1H is normal, and is input to the motor control unit 900.
While the output value of the
なお、比較器841の出力値が1になった後、一定時間(例えば数秒間)が経過しても、積分器831の出力値が第2基準値“30”未満である場合は、積分器831は積算した値をリセットしてもよい。ANDブロック822が1を50μs以上出力した場合、スイッチング素子SW_A1Hは故障している可能性がある。しかし、ANDブロック822が1を50μs以上出力することが連続しない場合は、スイッチング素子SW_A1Hは故障していないとみなし、積分器831をリセットして故障診断を継続してもよい。
When the output value of theintegrator 831 is less than the second reference value “30” even if a predetermined time (for example, several seconds) elapses after the output value of the comparator 841 becomes 1, the integrator 831 may reset the integrated value. When the AND block 822 outputs 1 for 50 μs or more, the switching element SW_A1H may be out of order. However, when it is not continuous that the AND block 822 outputs 1 for 50 μs or more, the switching element SW_A1H may be regarded as not having a fault, and the integrator 831 may be reset to continue fault diagnosis.
When the output value of the
このように、故障診断ユニット800_Iは、検出したスイッチング素子を流れる電流の値を用いて、スイッチング素子の故障の有無を診断することができる。
Thus, the failure diagnosis unit 800_I can diagnose the presence or absence of a failure of the switching element using the value of the current flowing through the detected switching element.
故障診断ユニット800_Iは、第1および第2インバータ120、130が備える複数のスイッチング素子におけるスイッチング素子SW_A1H以外のスイッチング素子に対しても、上記のスイッチング素子SW_A1Hに対する故障診断と同様の故障診断を実行する。
The fault diagnosis unit 800 _I executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
本実施形態の故障診断では、スイッチング素子に故障が発生した場合、複数のスイッチング素子のうちのどのスイッチング素子が故障したのかを特定することができる。故障したスイッチング素子を特定できることにより、故障箇所に応じた適切な制御を行うことができる。
In the failure diagnosis of the present embodiment, when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
〔2-2.電圧値を用いたスイッチング素子の故障診断〕
次に、図9を参照しながら、スイッチング素子にかかる電圧を検出して、スイッチング素子の故障の有無を診断する動作を説明する。ここでは、スイッチング素子にかかる電圧の値を用いてスイッチング素子の故障の有無を診断する故障診断ユニット800を故障診断ユニット800_Vと表現する。図9は、スイッチング素子にかかる電圧の値を用いて、スイッチング素子の故障の有無を診断する動作を示すフローチャートである。スイッチング素子がFETである場合、スイッチング素子にかかる電圧は、FETのソース-ドレイン間電圧である。図9に示すステップS105からS108の動作は、図5に示すステップS105からS108の動作と同様である。 [2-2. Failure diagnosis of switching element using voltage value]
Next, the operation of detecting the voltage applied to the switching element and diagnosing the presence or absence of a failure of the switching element will be described with reference to FIG. Here,fault diagnosis unit 800 that diagnoses the presence or absence of a fault of the switching element using the value of the voltage applied to the switching element is expressed as fault diagnosis unit 800_V. FIG. 9 is a flowchart showing an operation of diagnosing the presence or absence of a failure of the switching element using the value of the voltage applied to the switching element. When the switching element is an FET, the voltage applied to the switching element is the voltage between the source and drain of the FET. The operations of steps S105 to S108 shown in FIG. 9 are similar to the operations of steps S105 to S108 shown in FIG.
次に、図9を参照しながら、スイッチング素子にかかる電圧を検出して、スイッチング素子の故障の有無を診断する動作を説明する。ここでは、スイッチング素子にかかる電圧の値を用いてスイッチング素子の故障の有無を診断する故障診断ユニット800を故障診断ユニット800_Vと表現する。図9は、スイッチング素子にかかる電圧の値を用いて、スイッチング素子の故障の有無を診断する動作を示すフローチャートである。スイッチング素子がFETである場合、スイッチング素子にかかる電圧は、FETのソース-ドレイン間電圧である。図9に示すステップS105からS108の動作は、図5に示すステップS105からS108の動作と同様である。 [2-2. Failure diagnosis of switching element using voltage value]
Next, the operation of detecting the voltage applied to the switching element and diagnosing the presence or absence of a failure of the switching element will be described with reference to FIG. Here,
ここでは、第1および第2インバータ120、130が備える複数のスイッチング素子のうちの1つであるスイッチング素子SW_A1Hの故障の有無を診断する例を説明する。この故障診断は、スイッチング素子SW_A1Hをオンにする動作を行う毎に繰り返し実行され得る。
Here, an example of diagnosing the presence or absence of a failure of the switching element SW_A1H which is one of the plurality of switching elements provided in the first and second inverters 120 and 130 will be described. This failure diagnosis may be repeatedly performed each time the switching element SW_A1H is turned on.
故障診断ユニット800_Vは、スイッチング素子SW_A1Hがオン状態に制御されたときのスイッチング素子SW_A1Hのソース-ドレイン間電圧を検出する(ステップS111)。例えば、故障診断ユニット800_Vは、電圧検出回路380(図1)の出力信号を用いて、スイッチング素子SW_A1Hのソース-ドレイン間電圧を検出することができる。
The failure diagnosis unit 800_V detects the source-drain voltage of the switching element SW_A1H when the switching element SW_A1H is controlled to be in the on state (step S111). For example, the failure diagnosis unit 800_V can detect the source-drain voltage of the switching element SW_A1H using the output signal of the voltage detection circuit 380 (FIG. 1).
次に、故障診断ユニット800_Vは、スイッチング素子SW_A1Hがオン状態に制御されたときのスイッチング素子SW_A1Hのソース-ドレイン間電圧が所定電圧以上であるか判定する(ステップS112)。所定電圧は例えば0.5Vである。なお、0.5Vは一例であり、本開示の実施形態はそれに限定されない。
Next, the failure diagnosis unit 800_V determines whether the voltage between the source and drain of the switching element SW_A1H when the switching element SW_A1H is controlled to be in the ON state is equal to or higher than a predetermined voltage (step S112). The predetermined voltage is, for example, 0.5V. In addition, 0.5 V is an example, and the embodiment of the present disclosure is not limited thereto.
Next, the failure diagnosis unit 800_V determines whether the voltage between the source and drain of the switching element SW_A1H when the switching element SW_A1H is controlled to be in the ON state is equal to or higher than a predetermined voltage (step S112). The predetermined voltage is, for example, 0.5V. In addition, 0.5 V is an example, and the embodiment of the present disclosure is not limited thereto.
この例では、スイッチング素子SW_A1Hが故障していない、すなわち正常である場合は、ゲート制御信号が供給されたスイッチング素子SW_A1Hのソース-ドレイン間電圧は0.5V未満になる。スイッチング素子SW_A1Hがオープン故障している場合、ゲート制御信号が供給されたスイッチング素子SW_A1Hのソース-ドレイン間電圧は0.5V以上になる。
In this example, when the switching element SW_A1H is not broken, that is, normal, the source-drain voltage of the switching element SW_A1H supplied with the gate control signal is less than 0.5V. When the switching element SW_A1H has an open failure, the source-drain voltage of the switching element SW_A1H to which the gate control signal is supplied is 0.5 V or more.
In this example, when the switching element SW_A1H is not broken, that is, normal, the source-drain voltage of the switching element SW_A1H supplied with the gate control signal is less than 0.5V. When the switching element SW_A1H has an open failure, the source-drain voltage of the switching element SW_A1H to which the gate control signal is supplied is 0.5 V or more.
故障診断ユニット800_Vは、検出した電圧は0.5V以上でないと判定した場合、スイッチング素子SW_A1Hは正常であると判定する(ステップS108)。故障診断ユニット800_Vは、スイッチング素子SW_A1Hが正常であることを示す信号をモータ制御ユニット900に出力し、ステップS111の処理に戻る。
If failure diagnosis unit 800_V determines that the detected voltage is not 0.5 V or more, it determines that switching element SW_A1H is normal (step S108). Failure diagnosis unit 800_V outputs a signal indicating that switching element SW_A1H is normal to motor control unit 900, and returns to the process of step S111.
ステップS112において、検出した電圧が0.5V以上であると判定した場合、ステップS113の処理に進む。ステップS113において、故障診断ユニット800_Vは、スイッチング素子SW_A1Hがオン状態に制御されたときに、スイッチング素子SW_A1Hのソース-ドレイン間電圧が0.5V以上になる時間を検出する。次に、故障診断ユニット800_Vは、検出した時間が所定時間以上であるか判定する(ステップS114)。所定時間は例えば50μsである。なお、50μsは一例であり、本開示の実施形態はそれに限定されない。
If it is determined in step S112 that the detected voltage is 0.5 V or more, the process proceeds to step S113. In step S113, when the switching element SW_A1H is controlled to be in the on state, the failure diagnosis unit 800_V detects the time when the source-drain voltage of the switching element SW_A1H is 0.5 V or more. Next, fault diagnosis unit 800_V determines whether the detected time is equal to or longer than a predetermined time (step S114). The predetermined time is, for example, 50 μs. Note that 50 μs is an example, and the embodiment of the present disclosure is not limited thereto.
スイッチング素子SW_A1Hが正常である場合であっても、ノイズ等の外乱により、オン状態のスイッチング素子SW_A1Hのソース-ドレイン間電圧が0.5V以上になることが短時間発生し得る。このようなノイズに起因した異常値に基づいて、スイッチング素子SW_A1Hは異常であると判定してしまうと、正しい判定ができない。そこで、本実施形態では、電圧が0.5V以上になる時間が短時間(例えば50μs未満)である場合は、スイッチング素子SW_A1Hは正常であると判定する。
Even when the switching element SW_A1H is normal, the source-drain voltage of the on-state switching element SW_A1H may be 0.5 V or more for a short time due to disturbance such as noise. If the switching element SW_A1H is determined to be abnormal based on an abnormal value caused by such noise, correct determination can not be made. Therefore, in the present embodiment, when the time during which the voltage is 0.5 V or more is short (for example, less than 50 μs), it is determined that the switching element SW_A1H is normal.
故障診断ユニット800_Vは、検出した時間が50μs以上でないと判定した場合、スイッチング素子SW_A1Hは正常であると判定する(ステップS108)。故障診断ユニット800_Vは、スイッチング素子SW_A1Hが正常であることを示す信号をモータ制御ユニット900に出力し、ステップS111の処理に戻る。
If failure diagnosis unit 800_V determines that the detected time is not 50 μs or more, it determines that switching element SW_A1H is normal (step S108). Failure diagnosis unit 800_V outputs a signal indicating that switching element SW_A1H is normal to motor control unit 900, and returns to the process of step S111.
ステップS114において、検出した時間が50μs以上であると判定した場合、ステップS105の処理に進む。図9に示すステップS105からS108の動作は、図5に示すステップS105からS108の動作と同様であるので、ここでは、その詳細な説明の繰り返しは省略する。
If it is determined in step S114 that the detected time is 50 μs or more, the process proceeds to step S105. The operations in steps S105 to S108 shown in FIG. 9 are the same as the operations in steps S105 to S108 shown in FIG. 5, and therefore, the detailed description thereof will not be repeated.
図9の例では、ステップS108において、スイッチング素子SW_A1Hは正常であると判定した場合、故障診断ユニット800_Vは、スイッチング素子SW_A1Hが正常であることを示す信号をモータ制御ユニット900に出力し、ステップS111の処理に戻る。ステップS107において、スイッチング素子SW_A1Hはオープン故障していると判定した場合、故障診断ユニット800_Vは、スイッチング素子SW_A1Hが故障していることを示す信号をモータ制御ユニット900に出力する。故障診断ユニット800_Iは、スイッチング素子SW_A1Hが故障していることを示す信号をモータ制御ユニット900に出力した後、ステップS111の処理に戻ってもよい。
In the example of FIG. 9, when it is determined in step S108 that the switching element SW_A1H is normal, the failure diagnosis unit 800_V outputs a signal indicating that the switching element SW_A1H is normal to the motor control unit 900, and step S111. Return to the processing of When it is determined in step S107 that the switching element SW_A1H has an open failure, the failure diagnosis unit 800_V outputs a signal indicating that the switching element SW_A1H is broken to the motor control unit 900. After outputting a signal indicating that the switching element SW_A1H is broken to the motor control unit 900, the failure diagnosis unit 800_I may return to the process of step S111.
モータ制御ユニット900は、スイッチング素子SW_A1Hが故障していることを示す信号を受け取ると、モータ200の制御モードを正常時の制御モードから異常時の制御モードに変更する。
When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
故障診断ユニット800_Vは、第1および第2インバータ120、130が備える複数のスイッチング素子におけるスイッチング素子SW_A1H以外のスイッチング素子に対しても、上記のスイッチング素子SW_A1Hに対する故障診断と同様の故障診断を実行する。
The fault diagnosis unit 800 _V executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to the switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
本実施形態の故障診断では、スイッチング素子に故障が発生した場合、複数のスイッチング素子のうちのどのスイッチング素子が故障したのかを特定することができる。故障したスイッチング素子を特定できることにより、故障箇所に応じた適切な制御を行うことができる。
In the failure diagnosis of the present embodiment, when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
次に、図10を用いて、スイッチング素子にかかる電圧を検出して、スイッチング素子の故障の有無を診断する動作の一例を説明する。
Next, an example of the operation of detecting the voltage applied to the switching element and diagnosing the presence or absence of a failure of the switching element will be described using FIG.
図10に示す故障診断ユニット800_Vは、検出したスイッチング素子にかかる電圧の値を用いて、スイッチング素子の故障の有無を診断する故障診断ユニット800である。ここでは、第1および第2インバータ120、130が備える複数のスイッチング素子のうちの1つであるスイッチング素子SW_A1Hの故障の有無を診断する例を説明する。
Thefailure diagnosis unit 800 _V illustrated in FIG. 10 is a failure diagnosis unit 800 that diagnoses the presence or absence of a failure of the switching element using the value of the voltage applied to the detected switching element. Here, an example of diagnosing the presence or absence of a failure of the switching element SW_A1H which is one of the plurality of switching elements provided in the first and second inverters 120 and 130 will be described.
The
故障診断ユニット800_Vには、検出したスイッチング素子SW_A1Hのソース-ドレイン間電圧(図10中の“V”)が入力される。また、故障診断ユニット800_Vには、スイッチング素子SW_A1Hをオンにするゲート制御信号(図10中の“S”)が入力される。絶対値ブロック813は、検出したスイッチング素子SW_A1Hのソース-ドレイン間電圧の絶対値を求める。比較器814は、得られた絶対値と、予め決められた電圧下限値とを比較する。この電圧下限値は、図9に示すステップS112の処理において用いる所定電圧に相当し、例えば0.5Vである。なお、0.5Vは一例であり、本開示の実施形態はそれに限定されない。
The source-drain voltage ("V" in FIG. 10) of the detected switching element SW_A1H is input to the failure diagnosis unit 800_V. Further, a gate control signal ("S" in FIG. 10) for turning on the switching element SW_A1H is input to the failure diagnosis unit 800_V. Theabsolute value block 813 obtains the absolute value of the detected source-drain voltage of the switching element SW_A1H. The comparator 814 compares the obtained absolute value with a predetermined voltage lower limit value. The voltage lower limit value corresponds to a predetermined voltage used in the process of step S112 shown in FIG. In addition, 0.5 V is an example, and the embodiment of the present disclosure is not limited thereto.
The source-drain voltage ("V" in FIG. 10) of the detected switching element SW_A1H is input to the failure diagnosis unit 800_V. Further, a gate control signal ("S" in FIG. 10) for turning on the switching element SW_A1H is input to the failure diagnosis unit 800_V. The
比較器814は、電圧の絶対値が0.5V以上である場合は1を出力し、0.5V未満である場合は0を出力する。ANDブロック822には、比較器814の出力とゲート制御信号とが入力される。ANDブロック822は、比較器814の出力値およびゲート制御信号の両方が1のときに、1を出力する。すなわち、ANDブロック822は、スイッチング素子SW_A1Hがオン状態に制御されたときのスイッチング素子SW_A1Hのソース-ドレイン間電圧が下限値以上である場合に、1を出力する。それ以外の場合は、ANDブロック822は0を出力する。ANDブロック822の出力は、積分器831およびORブロック832に入力される。
The comparator 814 outputs 1 when the absolute value of the voltage is 0.5 V or more, and outputs 0 when the absolute value of the voltage is less than 0.5 V. The output of the comparator 814 and the gate control signal are input to the AND block 822. The AND block 822 outputs 1 when both the output value of the comparator 814 and the gate control signal are 1. That is, the AND block 822 outputs 1 when the voltage between the source and the drain of the switching element SW_A1H when the switching element SW_A1H is controlled to be in the ON state is equal to or more than the lower limit value. Otherwise, the AND block 822 outputs 0. The output of the AND block 822 is input to the integrator 831 and the OR block 832.
積分器831、ORブロック832、NOTブロック833、比較器841、比較器851の動作は、図6から図8を用いて説明した動作と同様であるため、ここではその詳細な説明の繰り返しは省略する。
The operations of the integrator 831, the OR block 832, the NOT block 833, the comparator 841, and the comparator 851 are the same as the operations described with reference to FIGS. 6 to 8, and therefore the repeated detailed description thereof is omitted here. Do.
比較器841の出力値が1になった場合、積分器831は、ANDブロック822の出力値を積算し続ける。比較器851は、積分器831の出力値が第2基準値“30”未満である間は、0を出力する。比較器851は、積分器831の出力値が第2基準値“30”以上になると1を出力する。
When the output value of the comparator 841 becomes 1, the integrator 831 continues to integrate the output value of the AND block 822. The comparator 851 outputs 0 while the output value of the integrator 831 is less than the second reference value “30”. The comparator 851 outputs 1 when the output value of the integrator 831 becomes equal to or greater than the second reference value “30”.
このように、故障診断ユニット800_Vは、検出したスイッチング素子にかかる電圧の値を用いて、スイッチング素子の故障の有無を診断することができる。
As described above, the failure diagnosis unit 800_V can diagnose the presence or absence of a failure of the switching element using the value of the voltage applied to the detected switching element.
故障診断ユニット800_Vは、第1および第2インバータ120、130が備える複数のスイッチング素子におけるスイッチング素子SW_A1H以外のスイッチング素子に対しても、上記のスイッチング素子SW_A1Hに対する故障診断と同様の故障診断を実行する。
The fault diagnosis unit 800 _V executes the same fault diagnosis as the fault diagnosis for the switching element SW_A1H with respect to the switching elements other than the switching elements SW_A1H in the plurality of switching elements included in the first and second inverters 120 and 130. .
本実施形態の故障診断では、スイッチング素子に故障が発生した場合、複数のスイッチング素子のうちのどのスイッチング素子が故障したのかを特定することができる。故障したスイッチング素子を特定できることにより、故障箇所に応じた適切な制御を行うことができる。
In the failure diagnosis of the present embodiment, when a failure occurs in a switching element, it is possible to identify which of the plurality of switching elements has failed. By identifying the failed switching element, appropriate control can be performed according to the failure point.
〔2-3.電流値及び電圧値の両方を用いたスイッチング素子の故障診断〕
次に、スイッチング素子を流れる電流の値およびスイッチング素子にかかる電圧の値の両方を用いてスイッチング素子の故障の有無を診断する動作を説明する。この例では、図11に示すように、コントローラ340は、故障診断ユニット800として、故障診断ユニット800_IVを備える。故障診断ユニット800_IVは、スイッチング素子を流れる電流の値およびスイッチング素子にかかる電圧の値の両方を用いてスイッチング素子の故障の有無を診断する。
[2-3. Failure diagnosis of switching element using both current value and voltage value]
Next, an operation of diagnosing the presence or absence of a failure of the switching element using both the value of the current flowing through the switching element and the value of the voltage applied to the switching element will be described. In this example, as shown in FIG. 11, the
図12は、故障診断ユニット800_IVの機能ブロックの一例を示す。図12に示す故障診断ユニット800_IVは、故障診断ユニット800_Iと、故障診断ユニット800_Vと、ORブロック861とを備える。
FIG. 12 shows an example of functional blocks of the failure diagnosis unit 800_IV. The failure diagnosis unit 800_IV shown in FIG. 12 includes a failure diagnosis unit 800_I, a failure diagnosis unit 800_V, and an OR block 861.
故障診断ユニット800_Iは、図5から図8を参照しながら説明した、電流値を用いた診断を行う。但し、この例では、図5に示すステップS108において、故障診断ユニット800_Iは、スイッチング素子SW_A1Hを流れる電流は正常であると判定する。この場合、故障診断ユニット800_Iは、スイッチング素子SW_A1Hを流れる電流は正常であることを示す信号(例えば“0”)をORブロック861に出力し、ステップS101の処理に戻る。また、図5に示すステップS107において、故障診断ユニット800_Iは、スイッチング素子SW_A1Hを流れる電流は異常であると判定する。故障診断ユニット800_Iは、スイッチング素子SW_A1Hを流れる電流は異常であることを示す信号(例えば“1”)をORブロック861に出力する。
The failure diagnosis unit 800_I performs the diagnosis using the current value described with reference to FIGS. 5 to 8. However, in this example, in step S108 shown in FIG. 5, the failure diagnosis unit 800_I determines that the current flowing through the switching element SW_A1H is normal. In this case, the failure diagnosis unit 800_I outputs a signal (for example, “0”) indicating that the current flowing through the switching element SW_A1H is normal to the OR block 861, and returns to the process of step S101. Further, in step S107 shown in FIG. 5, the failure diagnosis unit 800_I determines that the current flowing through the switching element SW_A1H is abnormal. The failure diagnosis unit 800_I outputs a signal (for example, “1”) indicating that the current flowing through the switching element SW_A1H is abnormal to the OR block 861.
また、この例では、図6に示す比較器851の出力値“0”は、スイッチング素子SW_A1Hを流れる電流は正常であることを示す信号となる。比較器851の出力値“1”は、スイッチング素子SW_A1Hを流れる電流は異常であることを示す信号となる。比較器851の出力は、ORブロック861に入力される。
Further, in this example, the output value “0” of the comparator 851 shown in FIG. 6 is a signal indicating that the current flowing through the switching element SW_A1H is normal. The output value “1” of the comparator 851 is a signal indicating that the current flowing through the switching element SW_A1H is abnormal. The output of the comparator 851 is input to the OR block 861.
このように、図12に示す故障診断ユニット800_Iは、スイッチング素子を流れる電流の異常の有無を判定する。
Thus, the failure diagnosis unit 800_I shown in FIG. 12 determines the presence or absence of an abnormality in the current flowing through the switching element.
故障診断ユニット800_Vは、図9および図10を参照しながら説明した、電圧値を用いた診断を行う。但し、この例では、図9に示すステップS108において、故障診断ユニット800_Vは、スイッチング素子SW_A1Hにかかる電圧は正常であると判定する。この場合、故障診断ユニット800_Vは、スイッチング素子SW_A1Hにかかる電圧は正常であることを示す信号(例えば“0”)をORブロック861に出力し、ステップS111の処理に戻る。また、図9に示すステップS107において、故障診断ユニット800_Vは、スイッチング素子SW_A1Hにかかる電圧は異常であると判定する。故障診断ユニット800_Vは、スイッチング素子SW_A1Hにかかる電圧は異常であることを示す信号(例えば“1”)をORブロック861に出力する。
Failure diagnosis unit 800_V performs a diagnosis using voltage values described with reference to FIGS. 9 and 10. However, in this example, in step S108 shown in FIG. 9, the failure diagnosis unit 800_V determines that the voltage applied to the switching element SW_A1H is normal. In this case, the failure diagnosis unit 800_V outputs a signal (for example, “0”) indicating that the voltage applied to the switching element SW_A1H is normal to the OR block 861, and returns to the process of step S111. Further, in step S107 shown in FIG. 9, the fault diagnosis unit 800_V determines that the voltage applied to the switching element SW_A1H is abnormal. The failure diagnosis unit 800_V outputs a signal (eg, “1”) indicating that the voltage applied to the switching element SW_A1H is abnormal to the OR block 861.
また、この例では、図10に示す比較器851の出力値“0”は、スイッチング素子SW_A1Hにかかる電圧は正常であることを示す信号となる。比較器851の出力値“1”は、スイッチング素子SW_A1Hにかかる電圧は異常であることを示す信号となる。比較器851の出力は、ORブロック861に入力される。
Further, in this example, the output value “0” of the comparator 851 shown in FIG. 10 is a signal indicating that the voltage applied to the switching element SW_A1H is normal. The output value “1” of the comparator 851 is a signal indicating that the voltage applied to the switching element SW_A1H is abnormal. The output of the comparator 851 is input to the OR block 861.
このように、図12に示す故障診断ユニット800_Vは、スイッチング素子にかかる電圧の異常の有無を判定する。
As described above, the failure diagnosis unit 800 _V illustrated in FIG. 12 determines whether or not the voltage applied to the switching element is abnormal.
ORブロック861は、故障診断ユニット800_Iおよび800_Vが出力する信号の両方が正常であることを示す場合、スイッチング素子SW_A1Hは正常であると判定する。スイッチング素子SW_A1Hは正常であると判定した場合、ORブロック861は、スイッチング素子SW_A1Hは正常であることを示す信号(例えば“0”)をモータ制御ユニット900に出力する。
The OR block 861 determines that the switching element SW_A1H is normal if both of the signals output from the failure diagnosis units 800_I and 800_V are normal. When it is determined that the switching element SW_A1H is normal, the OR block 861 outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the motor control unit 900.
ORブロック861は、故障診断ユニット800_Iおよび800_Vが出力する信号の少なくとも一方が異常であることを示す場合、スイッチング素子SW_A1Hは故障していると判定する。スイッチング素子SW_A1Hは故障していると判定した場合、ORブロック861は、スイッチング素子SW_A1Hが故障していることを示す信号(例えば“1”)をモータ制御ユニット900に出力する。モータ制御ユニット900は、スイッチング素子SW_A1Hが故障していることを示す信号を受け取ると、モータ200の制御モードを正常時の制御モードから異常時の制御モードに変更する。
The OR block 861 determines that the switching element SW_A1H is out of order if at least one of the signals output from the failure diagnosis units 800_I and 800_V indicates an abnormality. If it is determined that the switching element SW_A1H is faulty, the OR block 861 outputs a signal (for example, “1”) indicating that the switching element SW_A1H is faulty to the motor control unit 900. When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
図12に示す例では、故障診断ユニット800_IVは、検出した電流値および電圧値の両方を用いて故障診断を行う。そして、検出した電流値および電圧値のうちの少なくとも一方が異常である場合に、スイッチング素子は故障していると判定する。例えば、電流センサ150が故障した場合はスイッチング素子を流れる電流は検出できなくなるが、この場合でも、検出した電圧値を用いて故障の有無を診断することができる。また、例えば、電圧検出回路380が故障した場合はスイッチング素子にかかる電圧は検出できなくなるが、この場合でも、検出した電流値を用いて故障の有無を診断することができる。
In the example shown in FIG. 12, the fault diagnosis unit 800_IV performs fault diagnosis using both of the detected current value and voltage value. Then, when at least one of the detected current value and voltage value is abnormal, it is determined that the switching element is broken. For example, when thecurrent sensor 150 breaks down, the current flowing through the switching element can not be detected. Even in this case, the detected voltage value can be used to diagnose the presence or absence of a fault. Also, for example, when the voltage detection circuit 380 fails, the voltage applied to the switching element can not be detected, but in this case as well, the presence or absence of the failure can be diagnosed using the detected current value.
In the example shown in FIG. 12, the fault diagnosis unit 800_IV performs fault diagnosis using both of the detected current value and voltage value. Then, when at least one of the detected current value and voltage value is abnormal, it is determined that the switching element is broken. For example, when the
図13は、故障診断ユニット800_IVの機能ブロックの別の例を示す。図13に示す故障診断ユニット800_IVは、故障診断ユニット800_Iと、故障診断ユニット800_Vと、ANDブロック862とを備える。
FIG. 13 shows another example of the functional block of the fault diagnosis unit 800_IV. The fault diagnosis unit 800_IV shown in FIG. 13 includes a fault diagnosis unit 800_I, a fault diagnosis unit 800_V, and an ANDblock 862.
FIG. 13 shows another example of the functional block of the fault diagnosis unit 800_IV. The fault diagnosis unit 800_IV shown in FIG. 13 includes a fault diagnosis unit 800_I, a fault diagnosis unit 800_V, and an AND
図13に示す故障診断ユニット800_Iおよび800_IVの動作は、図12に示す故障診断ユニット800_Iおよび800_IVの動作と同様である。図13に示す例では、故障診断ユニット800_Iおよび800_IVのそれぞれの出力は、ANDブロック862に入力される。
The operation of fault diagnosis units 800_I and 800_IV shown in FIG. 13 is similar to the operation of fault diagnosis units 800_I and 800_IV shown in FIG. In the example shown in FIG. 13, the output of each of the fault diagnosis units 800 _I and 800 _IV is input to an AND block 862.
ANDブロック862は、故障診断ユニット800_Iおよび800_Vが出力する信号の少なくとも一方が正常であることを示す場合、スイッチング素子SW_A1Hは正常であると判定する。スイッチング素子SW_A1Hは正常であると判定した場合、ANDブロック862は、スイッチング素子SW_A1Hは正常であることを示す信号(例えば“0”)をモータ制御ユニット900に出力する。
The AND block 862 determines that the switching element SW_A1H is normal if at least one of the signals output from the failure diagnosis units 800_I and 800_V is normal. When it is determined that the switching element SW_A1H is normal, the AND block 862 outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the motor control unit 900.
ANDブロック862は、故障診断ユニット800_Iおよび800_Vが出力する信号の両方が異常であることを示す場合、スイッチング素子SW_A1Hは故障していると判定する。スイッチング素子SW_A1Hは故障していると判定した場合、ANDブロック862は、スイッチング素子SW_A1Hが故障していることを示す信号(例えば“1”)をモータ制御ユニット900に出力する。モータ制御ユニット900は、スイッチング素子SW_A1Hが故障していることを示す信号を受け取ると、モータ200の制御モードを正常時の制御モードから異常時の制御モードに変更する。
The AND block 862 determines that the switching element SW_A1H is out of order if both of the signals output from the failure diagnosis units 800_I and 800_V indicate an abnormality. If it is determined that the switching element SW_A1H has a failure, the AND block 862 outputs a signal (for example, “1”) indicating that the switching element SW_A1H has a failure to the motor control unit 900. When receiving a signal indicating that the switching element SW_A1H is broken, the motor control unit 900 changes the control mode of the motor 200 from the normal control mode to the abnormal control mode.
図13に示す例では、故障診断ユニット800_IVは、検出した電流値および電圧値の両方を用いて故障診断を行う。そして、検出した電流値および電圧値の両方が異常である場合に、スイッチング素子は故障していると判定する。電流値および電圧値の両方が異常である場合に故障と判定することにより、故障という判定の信頼性を高めることができる。
In the example illustrated in FIG. 13, the failure diagnosis unit 800 _IV performs failure diagnosis using both of the detected current value and voltage value. Then, when both of the detected current value and voltage value are abnormal, it is determined that the switching element is broken. Determining a failure when both the current value and the voltage value are abnormal can increase the reliability of the determination of the failure.
上記の説明では、電力変換装置1000を例に、スイッチング素子の故障の有無を診断する方法を説明した。本開示の実施形態にかかるスイッチング素子の故障の有無を診断する故障診断方法は、電力変換装置1000以外の様々な装置に適用することができる。例えば、DC-DCコンバータなどの各種コンバータ、風力発電システムなどの各種発電システムにもこれらの故障診断方法を適用することができる。本開示の実施形態かかるスイッチング素子の故障の有無を診断する故障診断方法は、オンとオフの切替えが繰り返されるスイッチング素子を備える電気機器に適用することができる。
In the above description, the method of diagnosing the presence or absence of a failure of the switching element has been described by taking the power conversion device 1000 as an example. The failure diagnosis method for diagnosing the presence or absence of a failure of a switching element according to an embodiment of the present disclosure can be applied to various devices other than the power conversion device 1000. For example, these failure diagnosis methods can be applied to various converters such as a DC-DC converter, and various power generation systems such as a wind power generation system. The failure diagnosis method for diagnosing the presence or absence of a failure of a switching element according to an embodiment of the present disclosure can be applied to an electric device including a switching element in which switching between on and off is repeated.
〔2-4.電流値を用いた相の故障診断〕
次に、本実施形態による相の故障の有無を診断する故障診断方法を説明する。ここでは、図1に示す電力変換装置1000を例に、相の故障の有無を診断する方法を説明する。
[2-4. Failure diagnosis of phase using current value]
Next, a failure diagnosis method for diagnosing the presence or absence of a phase failure according to the present embodiment will be described. Here, a method of diagnosing the presence or absence of a phase failure will be described using the
第1及び第2インバータ120、130が備える複数のスイッチング素子は、モータ200が備えるA相の巻線M1、B相の巻線M2、C相の巻線M3に接続される。故障が発生した場合、その故障がA相、B相、C相のうちの何れの相で発生しているのか特定することができれば、その故障箇所に応じた適切な制御を行うことができる。例えばA相に故障が発生していることが特定できれば残りのB相、C相を用いて二相通電制御を行うことができる。
The plurality of switching elements included in the first and
この例では、図14に示すように、コントローラ340は、故障診断ユニット800として、故障診断ユニット800P_Iを備える。故障診断ユニット800P_Iは、スイッチング素子を流れる電流の値を用いて相の故障の有無を診断する。
In this example, as shown in FIG. 14, the controller 340 includes a fault diagnosis unit 800P_I as the fault diagnosis unit 800. The failure diagnosis unit 800P_I diagnoses the presence or absence of a phase failure using the value of the current flowing through the switching element.
図15は、故障診断ユニット800P_Iの機能ブロックの一例を示している。図15に示す故障診断ユニット800P_Iは、故障診断ユニット800P_IA、800P_IB、800P_ICを備える。故障診断ユニット800P_IAは、A相に属するスイッチング素子を流れる電流の値を用いてA相の故障診断を行う。故障診断ユニット800P_IBは、B相に属するスイッチング素子を流れる電流の値を用いてB相の故障診断を行う。故障診断ユニット800P_ICは、C相に属するスイッチング素子を流れる電流の値を用いてC相の故障診断を行う。
FIG. 15 shows an example of a functional block of the failure diagnosis unit 800P_I. Fault diagnosis unit 800P_I shown in FIG. 15 includes fault diagnosis units 800P_IA, 800P_IB, and 800P_IC. Failure diagnosis unit 800P_IA performs failure diagnosis of phase A using the value of the current flowing through the switching element belonging to phase A. Failure diagnosis unit 800P_IB performs failure diagnosis of phase B using the value of the current flowing through the switching element belonging to phase B. Failure diagnosis unit 800P_IC performs failure diagnosis on the C phase using the value of the current flowing through the switching element belonging to the C phase.
図16は、故障診断ユニット800P_IAの機能ブロックの一例を示している。図16に示す故障診断ユニット800P_IAは、故障診断ユニット800_I1H、800_I1L、800_I2H、800_I2Lと、ORブロック870_Iとを備える。
FIG. 16 shows an example of functional blocks of the failure diagnosis unit 800P_IA. Fault diagnosis unit 800P_IA shown in FIG. 16 includes fault diagnosis units 800_I1H, 800_I1L, 800_I2H, 800_I2L, and an OR block 870_I.
図2に示す例では、A相の巻線M1には、スイッチング素子SW_A1H、SW_A1L、SW_A2H、SW_A2Lが接続される。
In the example illustrated in FIG. 2, the switching elements SW_A1H, SW_A1L, SW_A2H, and SW_A2L are connected to the A-phase winding M1.
In the example illustrated in FIG. 2, the switching elements SW_A1H, SW_A1L, SW_A2H, and SW_A2L are connected to the A-phase winding M1.
故障診断ユニット800_I1Hには、スイッチング素子SW_A1Hを流れる電流I_A1Hと、スイッチング素子SW_A1Hをオンにするゲート制御信号S_A1Hとが入力される。故障診断ユニット800_I1Lには、スイッチング素子SW_A1Lを流れる電流I_A1Lと、スイッチング素子SW_A1Lをオンにするゲート制御信号S_A1Lとが入力される。故障診断ユニット800_I2Hには、スイッチング素子SW_A2Hを流れる電流I_A2Hと、スイッチング素子SW_A2Hをオンにするゲート制御信号S_A2Hとが入力される。故障診断ユニット800_I2Lには、スイッチング素子SW_A2Lを流れる電流I_A2Lと、スイッチング素子SW_A2Lをオンにするゲート制御信号S_A2Lとが入力される。
The current I_A1H flowing through the switching element SW_A1H and the gate control signal S_A1H for turning on the switching element SW_A1H are input to the failure diagnosis unit 800_I1H. The current I_A1L flowing through the switching element SW_A1L and the gate control signal S_A1L for turning on the switching element SW_A1L are input to the failure diagnosis unit 800_I1L. The current I_A2H flowing through the switching element SW_A2H and the gate control signal S_A2H for turning on the switching element SW_A2H are input to the failure diagnosis unit 800_I2H. The current I_A2L flowing through the switching element SW_A2L and the gate control signal S_A2L for turning on the switching element SW_A2L are input to the failure diagnosis unit 800_I2L.
The current I_A1H flowing through the switching element SW_A1H and the gate control signal S_A1H for turning on the switching element SW_A1H are input to the failure diagnosis unit 800_I1H. The current I_A1L flowing through the switching element SW_A1L and the gate control signal S_A1L for turning on the switching element SW_A1L are input to the failure diagnosis unit 800_I1L. The current I_A2H flowing through the switching element SW_A2H and the gate control signal S_A2H for turning on the switching element SW_A2H are input to the failure diagnosis unit 800_I2H. The current I_A2L flowing through the switching element SW_A2L and the gate control signal S_A2L for turning on the switching element SW_A2L are input to the failure diagnosis unit 800_I2L.
故障診断ユニット800_I1Hは、図5から図8を参照しながら説明した、電流値を用いた故障診断を行う。図5のステップS108において、スイッチング素子SW_A1Hは正常であると判定した場合、故障診断ユニット800_I1Hは、スイッチング素子SW_A1Hが正常であることを示す信号(例えば“0”)をORブロック870_Iに出力し、ステップS101の処理に戻る。ステップS107において、スイッチング素子SW_A1Hは故障していると判定した場合、故障診断ユニット800_I1Hは、スイッチング素子SW_A1Hは故障していることを示す信号(例えば“1”)をORブロック870_Iに出力する。
The failure diagnosis unit 800_I1H performs the failure diagnosis using the current value described with reference to FIGS. 5 to 8. When it is determined in step S108 in FIG. 5 that the switching element SW_A1H is normal, the failure diagnosis unit 800_I1H outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the OR block 870_I. It returns to the process of step S101. If it is determined in step S107 that the switching element SW_A1H has a failure, the failure diagnosis unit 800_I1H outputs a signal (for example, “1”) indicating that the switching element SW_A1H has a failure to the OR block 870_I.
故障診断ユニット800_I1Hと同様に、故障診断ユニット800_I1L、800_I2H、800_I2Lも、スイッチング素子SW_A1L、SW_A2H、SW_A2Lの故障診断を行う。4個の故障診断ユニット800_I1H、800_I1L、800_I2H、800_I2Lのそれぞれの出力は、ORブロック870_Iに入力される。
Similar to the failure diagnosis unit 800_I1H, the failure diagnosis units 800_I1L, 800_I2H, and 800_I2L also perform failure diagnosis on the switching elements SW_A1L, SW_A2H, and SW_A2L. The output of each of the four fault diagnosis units 800_I1H, 800_I1L, 800_I2H and 800_I2L is input to the OR block 870_I.
ORブロック870_Iは、4個の故障診断ユニット800_I1H、800_I1L、800_I2H、800_I2Lの出力の全てが正常を示していた場合、A相は正常であると判定する。A相は正常であると判定した場合、ORブロック870_Iは、A相は正常であることを示す信号(例えば“0”)をモータ制御ユニット900に出力する。
The OR block 870_I determines that the phase A is normal if all of the outputs of the four fault diagnosis units 800_I1H, 800_I1L, 800_I2H and 800_I2L indicate normal. If it is determined that the A phase is normal, the OR block 870_I outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
ORブロック870_Iは、4個の故障診断ユニット800_I1H、800_I1L、800_I2H、800_I2Lの出力信号のいずれかが故障を示していた場合、A相に故障が発生していると判定する。A相に故障が発生していると判定した場合、ORブロック870_Iは、A相に故障が発生していることを示す信号(例えば“1”)をモータ制御ユニット900に出力する。
The OR block 870 _I determines that a failure has occurred in the A phase when any of the output signals of the four failure diagnosis units 800 _I 1 H, 800 _ I 1 L, 800 _ I 2 H, and 800 _ I 2 L indicates a failure. If it is determined that a failure occurs in phase A, OR block 870 _I outputs a signal (for example, “1”) indicating that a failure occurs in phase A to motor control unit 900.
故障診断ユニット800P_IAと同様に、図15に示す故障診断ユニット800P_IB、800P_ICも、B相およびC相の故障の有無の診断を行う。故障診断ユニット800P_IB、800P_ICは、故障診断の結果を示す信号をモータ制御ユニット900に出力する。
Similar to the fault diagnosis unit 800P_IA, the fault diagnosis units 800P_IB and 800P_IC shown in FIG. 15 also diagnose the presence or absence of a B phase and a C phase fault. Fault diagnosis units 800P_IB and 800P_IC output a signal indicating the result of fault diagnosis to motor control unit 900.
モータ制御ユニット900は、故障診断ユニット800P_IA、800P_IB、800P_ICの出力信号から、A相、B相、C相の故障の有無を判定することができる。また、故障が発生した場合、モータ制御ユニット900は、故障診断ユニット800P_IA、800P_IB、800P_ICの出力信号から、どの相に故障が発生しているのかを特定することができる。故障している相が特定できることにより、モータ制御ユニット900は、故障箇所に応じた適切な制御を行うことができる。例えば、モータ制御ユニット900は、故障相以外の残りの二相を用いて二相通電制御を行うことができる。
The motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the failure diagnosis units 800P_IA, 800P_IB, and 800P_IC. Also, when a failure occurs, the motor control unit 900 can identify which phase the failure has occurred from the output signals of the failure diagnosis units 800P_IA, 800P_IB, and 800P_IC. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point. For example, the motor control unit 900 can perform two-phase conduction control using the remaining two phases other than the failure phase.
〔2-5.電圧値を用いた相の故障診断〕
次に、電圧値を用いて相の故障の有無を診断する故障診断方法を説明する。ここでは、図1に示す電力変換装置1000を例に、相の故障の有無を診断する方法を説明する。
[2-5. Failure diagnosis of phase using voltage value]
Next, a failure diagnosis method for diagnosing the presence or absence of a phase failure using a voltage value will be described. Here, a method of diagnosing the presence or absence of a phase failure will be described using the
この例では、図17に示すように、コントローラ340は、故障診断ユニット800として、故障診断ユニット800P_Vを備える。故障診断ユニット800P_Vは、スイッチング素子にかかる電圧の値を用いて相の故障の有無を診断する。
In this example, as shown in FIG. 17, the controller 340 includes a fault diagnosis unit 800P_V as the fault diagnosis unit 800. The failure diagnosis unit 800P_V diagnoses the presence or absence of a phase failure using the value of the voltage applied to the switching element.
図18は、故障診断ユニット800P_Vの機能ブロックの一例を示している。図18に示す故障診断ユニット800P_Vは、故障診断ユニット800P_VA、800P_VB、800P_VCを備える。故障診断ユニット800P_VAは、A相に属するスイッチング素子にかかる電圧の値を用いてA相の故障診断を行う。故障診断ユニット800P_VBは、B相に属するスイッチング素子にかかる電圧の値を用いてB相の故障診断を行う。故障診断ユニット800P_VCは、C相に属するスイッチング素子にかかる電圧の値を用いてC相の故障診断を行う。
FIG. 18 shows an example of a functional block of the failure diagnosis unit 800P_V. The fault diagnosis unit 800P_V illustrated in FIG. 18 includes fault diagnosis units 800P_VA, 800P_VB, and 800P_VC. Failure diagnosis unit 800P_VA performs failure diagnosis of A phase using the value of the voltage applied to the switching element belonging to A phase. Failure diagnosis unit 800P_VB performs failure diagnosis of phase B using the value of the voltage applied to the switching element belonging to phase B. Failure diagnosis unit 800P_VC performs failure diagnosis of phase C using the value of the voltage applied to the switching element belonging to phase C.
図19は、故障診断ユニット800P_VAの機能ブロックの一例を示している。図19に示す故障診断ユニット800P_VAは、故障診断ユニット800_V1H、800_V1L、800_V2H、800_V2Lと、ORブロック870_Vとを備える。
FIG. 19 shows an example of a functional block of the failure diagnosis unit 800P_VA. Failure diagnosis unit 800P_VA shown in FIG. 19 includes failure diagnosis units 800_V1H, 800_V1L, 800_V2H, 800_V2L, and an OR block 870_V.
故障診断ユニット800_V1Hには、スイッチング素子SW_A1Hにかかる電圧V_A1Hと、ゲート制御信号S_A1Hとが入力される。故障診断ユニット800_V1Lには、スイッチング素子SW_A1Lにかかる電圧V_A1Lと、ゲート制御信号S_A1Lとが入力される。故障診断ユニット800_V2Hには、スイッチング素子SW_A2Hにかかる電圧V_A2Hと、ゲート制御信号S_A2Hとが入力される。故障診断ユニット800_V2Lには、スイッチング素子SW_A2Lにかかる電圧V_A2Lと、ゲート制御信号S_A2Lとが入力される。
The voltage V_A1H applied to the switching element SW_A1H and the gate control signal S_A1H are input to the failure diagnosis unit 800_V1H. The voltage V_A1L applied to the switching element SW_A1L and the gate control signal S_A1L are input to the failure diagnosis unit 800_V1L. The voltage V_A2H applied to the switching element SW_A2H and the gate control signal S_A2H are input to the failure diagnosis unit 800_V2H. The voltage V_A2L applied to the switching element SW_A2L and the gate control signal S_A2L are input to the failure diagnosis unit 800_V2L.
故障診断ユニット800_V1Hは、図9および図10を参照しながら説明した、電圧値を用いた故障診断を行う。図9のステップS108において、スイッチング素子SW_A1Hは正常であると判定した場合、故障診断ユニット800_V1Hは、スイッチング素子SW_A1Hが正常であることを示す信号(例えば“0”)をORブロック870_Vに出力し、ステップS111の処理に戻る。図9のステップS107において、スイッチング素子SW_A1Hは故障していると判定した場合、故障診断ユニット800_V1Hは、スイッチング素子SW_A1Hは故障していることを示す信号(例えば“1”)をORブロック870_Vに出力する。
The failure diagnosis unit 800_V1H performs the failure diagnosis using the voltage value described with reference to FIGS. 9 and 10. When it is determined in step S108 in FIG. 9 that the switching element SW_A1H is normal, the failure diagnosis unit 800_V1H outputs a signal (for example, “0”) indicating that the switching element SW_A1H is normal to the OR block 870_V. It returns to the process of step S111. When it is determined in step S107 in FIG. 9 that the switching element SW_A1H is in failure, the failure diagnosis unit 800_V1H outputs a signal (for example, “1”) indicating that the switching element SW_A1H is in failure to the OR block 870_V. Do.
故障診断ユニット800_V1Hと同様に、故障診断ユニット800_V1L、800_V2H、800_V2Lも、スイッチング素子SW_A1L、SW_A2H、SW_A2Lの故障診断を行う。4個の故障診断ユニット800_V1H、800_V1L、800_V2H、800_V2Lのそれぞれの出力は、ORブロック870_Vに入力される。
Similar to the failure diagnosis unit 800_V1H, the failure diagnosis units 800_V1L, 800_V2H, and 800_V2L also perform failure diagnosis on the switching elements SW_A1L, SW_A2H, and SW_A2L. The outputs of the four fault diagnosis units 800_V1H, 800_V1L, 800_V2H and 800_V2L are input to the OR block 870_V.
ORブロック870_Vは、4個の故障診断ユニット800_V1H、800_V1L、800_V2H、800_V2Lの出力信号の全てが正常を示していた場合、A相は正常であると判定する。A相は正常であると判定した場合、ORブロック870_Vは、A相は正常であることを示す信号(例えば“0”)をモータ制御ユニット900に出力する。
The OR block 870 _V determines that the phase A is normal when all of the output signals of the four fault diagnosis units 800 _V 1 H, 800 _ V 1 L, 800 _ V 2 H, and 800 _ V 2 L indicate normal. If it is determined that the A phase is normal, the OR block 870 _V outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
ORブロック870_Vは、4個の故障診断ユニット800_V1H、800_V1L、800_V2H、800_V2Lの出力信号のいずれかが故障を示していた場合、A相に故障が発生していると判定する。A相に故障が発生していると判定した場合、ORブロック870_Vは、A相に故障が発生していることを示す信号(例えば“1”)をモータ制御ユニット900に出力する。
The OR block 870 _V determines that a failure has occurred in the A phase when any of the output signals of the four failure diagnosis units 800 _V 1 H, 800 _ V 1 L, 800 _ V 2 H, and 800 _ V 2 L indicates a failure. If it is determined that a failure has occurred in phase A, OR block 870 _V outputs a signal (for example, “1”) indicating that a failure has occurred in phase A to motor control unit 900.
故障診断ユニット800P_VAと同様に、図18に示す故障診断ユニット800P_VB、800P_VCも、B相およびC相の故障の有無の診断を行う。故障診断ユニット800P_VB、800P_VCは、故障診断の結果を示す信号をモータ制御ユニット900に出力する。
Similarly to the fault diagnosis unit 800P_VA, the fault diagnosis units 800P_VB and 800P_VC shown in FIG. 18 also diagnose the presence or absence of a B phase and a C phase fault. Fault diagnosis units 800P_VB and 800P_VC output a signal indicating the result of fault diagnosis to motor control unit 900.
モータ制御ユニット900は、故障診断ユニット800P_VA、800P_VB、800P_VCの出力信号から、A相、B相、C相の故障の有無を判定することができる。また、故障が発生した場合、モータ制御ユニット900は、故障診断ユニット800P_VA、800P_VB、800P_VCの出力信号から、どの相に故障が発生しているのかを特定することができる。故障している相が特定できることにより、モータ制御ユニット900は、故障箇所に応じた適切な制御を行うことができる。例えば、モータ制御ユニット900は、故障相以外の残りの二相を用いて二相通電制御を行うことができる。
The motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the failure diagnosis units 800P_VA, 800P_VB, and 800P_VC. Also, when a failure occurs, the motor control unit 900 can identify which phase the failure has occurred from the output signals of the failure diagnosis units 800P_VA, 800P_VB, and 800P_VC. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point. For example, the motor control unit 900 can perform two-phase conduction control using the remaining two phases other than the failure phase.
〔2-6.電流値および電圧値の両方を用いた相の故障診断〕
次に、電流値および電圧値の両方を用いて相の故障の有無を診断する故障診断方法を説明する。この例では、図20に示すように、コントローラ340は、故障診断ユニット800として、故障診断ユニット800P_IVを備える。故障診断ユニット800P_IVは、スイッチング素子を流れる電流の値およびスイッチング素子にかかる電圧の値の両方を用いて相の故障の有無を診断する。
[2-6. Failure diagnosis of phase using both current value and voltage value]
Next, a failure diagnosis method for diagnosing the presence or absence of a phase failure using both the current value and the voltage value will be described. In this example, as shown in FIG. 20, the
図21は、故障診断ユニット800P_IVの機能ブロックの一例を示す。図21に示す故障診断ユニット800P_IVは、故障診断ユニット800P_IAおよび800P_VAと、ORブロック881Aとを備える。
FIG. 21 shows an example of a functional block of the failure diagnosis unit 800P_IV. Failure diagnosis unit 800P_IV shown in FIG. 21 includes failure diagnosis units 800P_IA and 800P_VA, and an ORblock 881A.
FIG. 21 shows an example of a functional block of the failure diagnosis unit 800P_IV. Failure diagnosis unit 800P_IV shown in FIG. 21 includes failure diagnosis units 800P_IA and 800P_VA, and an OR
故障診断ユニット800P_IAは、図15および図16を参照しながら説明した、電流値を用いた診断を行う。故障診断ユニット800P_VAは、図18および図19を参照しながら説明した、電圧値を用いた診断を行う。
Failure diagnosis unit 800P_IA performs the diagnosis using the current value described with reference to FIGS. 15 and 16. Failure diagnosis unit 800P_VA performs a diagnosis using voltage values described with reference to FIGS. 18 and 19.
Failure diagnosis unit 800P_IA performs the diagnosis using the current value described with reference to FIGS. 15 and 16. Failure diagnosis unit 800P_VA performs a diagnosis using voltage values described with reference to FIGS. 18 and 19.
ORブロック881Aは、故障診断ユニット800P_IAおよび800P_VAが出力する信号の両方が正常であることを示す場合、A相は正常であると判定する。A相は正常であると判定した場合、ORブロック881Aは、A相は正常であることを示す信号(例えば“0”)をモータ制御ユニット900に出力する。
The OR block 881A determines that the A phase is normal if both of the signals output from the fault diagnosis units 800P_IA and 800P_VA indicate that the signals are normal. If it is determined that the A phase is normal, the OR block 881A outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
ORブロック881Aは、故障診断ユニット800P_IAおよび800P_VAが出力する信号の少なくとも一方が異常であることを示す場合、A相は故障していると判定する。A相は故障していると判定した場合、ORブロック881Aは、A相が故障していることを示す信号(例えば“1”)をモータ制御ユニット900に出力する。
The OR block 881A determines that the A phase is broken when at least one of the signals output from the failure diagnosis units 800P_IA and 800P_VA indicates that it is abnormal. If it is determined that the A phase is broken, the OR block 881A outputs a signal (for example, “1”) indicating that the A phase is broken to the motor control unit 900.
故障診断ユニット800P_IVは、故障診断ユニット800P_IBおよび800P_VBと、ORブロック881Bとをさらに備える。
Fault diagnosis unit 800P_IV further includes fault diagnosis units 800P_IB and 800P_VB, and an OR block 881B.
Fault diagnosis unit 800P_IV further includes fault diagnosis units 800P_IB and 800P_VB, and an OR block 881B.
故障診断ユニット800P_IBは、図15および図16を参照しながら説明した、電流値を用いた診断を行う。故障診断ユニット800P_VBは、図18および図19を参照しながら説明した、電圧値を用いた診断を行う。
Failure diagnosis unit 800P_IB performs the diagnosis using the current value described with reference to FIGS. 15 and 16. Failure diagnosis unit 800P_VB performs diagnosis using voltage values described with reference to FIGS. 18 and 19.
Failure diagnosis unit 800P_IB performs the diagnosis using the current value described with reference to FIGS. 15 and 16. Failure diagnosis unit 800P_VB performs diagnosis using voltage values described with reference to FIGS. 18 and 19.
ORブロック881Bは、故障診断ユニット800P_IB及び800P_VBが出力する信号の両方が正常であることを示す場合、B相は正常であると判定する。B相は正常であると判定した場合、ORブロック881Bは、B相は正常であることを示す信号をモータ制御ユニット900に出力する。
The OR
ORブロック881Bは、故障診断ユニット800P_IBおよび800P_VBが出力する信号の少なくとも一方が異常であることを示す場合、B相は故障していると判定する。B相は故障していると判定した場合、ORブロック881Bは、B相が故障していることを示す信号をモータ制御ユニット900に出力する。
The OR block 881B determines that the B phase is broken when at least one of the signals output from the failure diagnosis units 800P_IB and 800P_VB is abnormal. If it is determined that the B phase is broken, the OR block 881B outputs a signal indicating that the B phase is broken to the motor control unit 900.
故障診断ユニット800P_IVは、故障診断ユニット800P_ICおよび800P_VCと、ORブロック881Cとをさらに備える。
Failure diagnosis unit 800P_IV further includes failure diagnosis units 800P_IC and 800P_VC, and an OR block 881C.
Failure diagnosis unit 800P_IV further includes failure diagnosis units 800P_IC and 800P_VC, and an OR block 881C.
故障診断ユニット800P_ICは、図15および図16を参照しながら説明した、電流値を用いた診断を行う。故障診断ユニット800P_VCは、図18および図19を参照しながら説明した、電圧値を用いた診断を行う。
Failure diagnosis unit 800P_IC performs the diagnosis using the current value described with reference to FIGS. 15 and 16. Failure diagnosis unit 800P_VC performs diagnosis using voltage values described with reference to FIGS. 18 and 19.
Failure diagnosis unit 800P_IC performs the diagnosis using the current value described with reference to FIGS. 15 and 16. Failure diagnosis unit 800P_VC performs diagnosis using voltage values described with reference to FIGS. 18 and 19.
ORブロック881Cは、故障診断ユニット800P_IC及び800P_VCが出力する信号の両方が正常であることを示す場合、C相は正常であると判定する。C相は正常であると判定した場合、ORブロック881Cは、C相は正常であることを示す信号をモータ制御ユニット900に出力する。
The OR block 881 C determines that the C phase is normal if both of the signals output from the failure diagnosis units 800 P_IC and 800 P_VC indicate that they are normal. If it is determined that the C phase is normal, the OR block 881C outputs a signal indicating that the C phase is normal to the motor control unit 900.
ORブロック881Cは、故障診断ユニット800P_ICおよび800P_VCが出力する信号の少なくとも一方が異常であることを示す場合、C相は故障していると判定する。C相は故障していると判定した場合、ORブロック881Cは、C相が故障していることを示す信号をモータ制御ユニット900に出力する。
The OR block 881 C determines that the C phase is broken when at least one of the signals output from the failure diagnosis units 800 P_IC and 800 P_VC indicates an error. If it is determined that the C phase is broken, the OR block 881C outputs a signal indicating that the C phase is broken to the motor control unit 900.
モータ制御ユニット900は、ORブロック881A、881B、881Cの出力信号から、A相、B相、C相の故障の有無を判定することができる。故障が発生した場合、モータ制御ユニット900は、どの相に故障が発生しているのかを特定することができる。故障している相が特定できることにより、モータ制御ユニット900は、故障箇所に応じた適切な制御を行うことができる。例えば、モータ制御ユニット900は、故障相以外の残りの二相を用いて二相通電制御を行うことができる。
The motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the OR blocks 881A, 881B, and 881C. If a failure occurs, the motor control unit 900 can identify which phase the failure has occurred. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point. For example, the motor control unit 900 can perform two-phase conduction control using the remaining two phases other than the failure phase.
図21に示す例では、故障診断ユニット800P_IVは、検出した電流値および電圧値の両方を用いて故障診断を行う。例えば、電流センサ150が故障した場合はスイッチング素子を流れる電流は検出できなくなるが、この場合でも、検出した電圧値を用いて故障の有無を診断することができる。また、例えば、電圧検出回路380が故障した場合はスイッチング素子にかかる電圧は検出できなくなるが、この場合でも、検出した電流値を用いて故障の有無を診断することができる。
In the example illustrated in FIG. 21, the failure diagnosis unit 800P_IV performs failure diagnosis using both of the detected current value and voltage value. For example, when the current sensor 150 breaks down, the current flowing through the switching element can not be detected. Even in this case, the detected voltage value can be used to diagnose the presence or absence of a fault. Also, for example, when the voltage detection circuit 380 fails, the voltage applied to the switching element can not be detected, but in this case as well, the presence or absence of the failure can be diagnosed using the detected current value.
図22は、故障診断ユニット800P_IVの機能ブロックの別の例を示している。図21に示す故障診断ユニット800_IVと比較して、図22に示す故障診断ユニット800_IVは、ORブロック881A、881Bおよび881Cの代わりに、ANDブロック882A、882Bおよび882Cを備える。
FIG. 22 shows another example of the functional block of the failure diagnosis unit 800P_IV. Compared to the failure diagnosis unit 800_IV shown in FIG. 21, the failure diagnosis unit 800_IV shown in FIG. 22 includes AND blocks 882A, 882B and 882C instead of the OR blocks 881A, 881B and 881C.
図22に示す例では、故障診断ユニット800P_IAおよび800P_VAのそれぞれの出力は、ANDブロック882Aに入力される。故障診断ユニット800P_IBおよび800P_VBのそれぞれの出力は、ANDブロック882Bに入力される。故障診断ユニット800P_ICおよび800P_VCのそれぞれの出力は、ANDブロック882Cに入力される。
In the example shown in FIG. 22, the outputs of fault diagnosis units 800P_IA and 800P_VA are input to AND block 882A. The outputs of fault diagnosis units 800P_IB and 800P_VB are input to AND block 882B. The outputs of fault diagnosis units 800P_IC and 800P_VC are input to AND block 882C.
ANDブロック882Aは、故障診断ユニット800P_IAおよび800P_VAが出力する信号の少なくとも一方が正常であることを示す場合、A相は正常であると判定する。A相は正常であると判定した場合、ANDブロック882Aは、A相は正常であることを示す信号(例えば“0”)をモータ制御ユニット900に出力する。
The AND block 882A determines that the A phase is normal if at least one of the signals output from the failure diagnosis units 800P_IA and 800P_VA indicates that the signal is normal. If it is determined that the A phase is normal, the AND block 882A outputs a signal (for example, “0”) indicating that the A phase is normal to the motor control unit 900.
ANDブロック882Aは、故障診断ユニット800P_IAおよび800P_VAが出力する信号の両方が異常であることを示す場合、A相は故障していると判定する。A相は故障していると判定した場合、ANDブロック882Aは、A相が故障していることを示す信号(例えば“1”)をモータ制御ユニット900に出力する。
The AND block 882A determines that the A phase is broken when both of the signals output from the failure diagnosis units 800P_IA and 800P_VA indicate that it is abnormal. If it is determined that the A phase is broken, the AND block 882A outputs a signal (for example, “1”) indicating that the A phase is broken to the motor control unit 900.
ANDブロック882Bは、故障診断ユニット800P_IBおよび800P_VBが出力する信号の少なくとも一方が正常であることを示す場合、B相は正常であると判定する。B相は正常であると判定した場合、ANDブロック882Bは、B相は正常であることを示す信号をモータ制御ユニット900に出力する。
The AND block 882B determines that the B phase is normal if at least one of the signals output from the failure diagnosis units 800P_IB and 800P_VB is normal. If it is determined that the B phase is normal, the AND block 882B outputs a signal indicating that the B phase is normal to the motor control unit 900.
ANDブロック882Bは、故障診断ユニット800P_IBおよび800P_VBが出力する信号の両方が異常であることを示す場合、B相は故障していると判定する。B相は故障していると判定した場合、ANDブロック882Bは、B相が故障していることを示す信号をモータ制御ユニット900に出力する。
The AND block 882B determines that the B phase is broken when both of the signals output from the failure diagnosis units 800P_IB and 800P_VB are abnormal. When it is determined that the B phase is broken, the AND block 882B outputs a signal indicating that the B phase is broken to the motor control unit 900.
ANDブロック882Cは、故障診断ユニット800P_ICおよび800P_VCが出力する信号の少なくとも一方が正常であることを示す場合、C相は正常であると判定する。C相は正常であると判定した場合、ANDブロック882Cは、C相は正常であることを示す信号をモータ制御ユニット900に出力する。
The AND block 882C determines that the C phase is normal if at least one of the signals output from the failure diagnosis units 800P_IC and 800P_VC indicates that it is normal. If it is determined that the C phase is normal, the AND block 882C outputs a signal indicating that the C phase is normal to the motor control unit 900.
ANDブロック882Cは、故障診断ユニット800P_ICおよび800P_VCが出力する信号の両方が異常であることを示す場合、C相は故障していると判定する。C相は故障していると判定した場合、ANDブロック882Cは、C相が故障していることを示す信号をモータ制御ユニット900に出力する。
The AND block 882C determines that the C phase is in failure if both of the signals output from the failure diagnosis units 800P_IC and 800P_VC indicate an abnormality. If it is determined that the C phase is broken, the AND block 882 C outputs a signal indicating that the C phase is broken to the motor control unit 900.
モータ制御ユニット900は、ORブロック882A、882B、882Cの出力信号から、A相、B相、C相の故障の有無を判定することができる。故障が発生した場合、モータ制御ユニット900は、どの相に故障が発生しているのかを特定することができる。故障している相が特定できることにより、モータ制御ユニット900は、故障箇所に応じた適切な制御を行うことができる。
The motor control unit 900 can determine the presence or absence of a failure of the A phase, the B phase, and the C phase from the output signals of the OR blocks 882A, 882B, 882C. If a failure occurs, the motor control unit 900 can identify which phase the failure has occurred. By identifying the failed phase, the motor control unit 900 can perform appropriate control according to the failure point.
図22に示す例では、故障診断ユニット800P_IVは、検出した電流値および電圧値の両方を用いて故障診断を行う。電流値および電圧値の両方が異常である場合に故障と判定することにより、故障という判定の信頼性を高めることができる。
In the example shown in FIG. 22, the failure diagnosis unit 800P_IV performs failure diagnosis using both of the detected current value and voltage value. Determining a failure when both the current value and the voltage value are abnormal can increase the reliability of the determination of the failure.
本開示の実施形態にかかる故障診断方法は、図2に示すような3個のHブリッジを有すインバータユニット100を備える電力変換装置1000に限られず、巻線の一端同士がY結線されたモータを駆動する電力変換装置にも好適に用いることができる。
The failure diagnosis method according to the embodiment of the present disclosure is not limited to the power conversion device 1000 including the inverter unit 100 having three H bridges as shown in FIG. 2, and a motor in which one ends of the windings are Y-connected It can also be suitably used for a power converter for driving the
図23は、本実施形態の変形例による、単体のインバータ140を有するインバータユニット100Aの回路構成を模式的に示している。
FIG. 23 schematically shows a circuit configuration of an inverter unit 100A having a single inverter 140 according to a modification of the present embodiment.
この例では、インバータユニット100Aは、一端同士がY結線された三相の巻線を有するモータ200に接続される。実施形態にかかる故障診断方法は、例えば三相電流を用いるモータに適用可能であり、一端同士がデルタ結線された巻線を有するモータにも適用可能である。インバータ140のA相レグは、ローサイドスイッチ素子SW_AL、ハイサイドスイッチ素子SW_AHおよびシャント抵抗S_Aを有する。B相レグは、ローサイドスイッチ素子SW_BL、ハイサイドスイッチ素子SW_BHおよびシャント抵抗S_Bを有する。C相レグは、ローサイドスイッチ素子SW_CL、ハイサイドスイッチ素子SW_CHおよびシャント抵抗S_Cを有する。
In this example, the inverter unit 100A is connected to a motor 200 having three-phase windings whose one ends are Y-connected. The failure diagnosis method according to the embodiment is applicable to, for example, a motor using a three-phase current, and is also applicable to a motor having a winding in which one end is delta-connected. The A phase leg of the inverter 140 has a low side switch element SW_AL, a high side switch element SW_AH, and a shunt resistor S_A. The B-phase leg has a low side switch element SW_BL, a high side switch element SW_BH, and a shunt resistor S_B. The C-phase leg has a low side switch element SW_CL, a high side switch element SW_CH, and a shunt resistor S_C.
コントローラ340は、上述した故障診断方法と同様の方法で、インバータ140が備える複数のスイッチング素子の故障の有無を診断することができる。また、コントローラ340は、上述した故障診断方法と同様の方法で、A相、B相、C相の故障の有無を診断することができる。
The controller 340 can diagnose the presence or absence of a failure of a plurality of switching elements included in the inverter 140 in the same manner as the failure diagnosis method described above. Further, the controller 340 can diagnose the presence or absence of a failure in the A phase, the B phase, and the C phase in the same manner as the failure diagnosis method described above.
インバータ140に故障が発生していないときは、コントローラ340は、例えば、三相通電制御でモータ200を制御する。インバータ140に故障が発生したとき、コントローラ340は、例えば、モータ200の駆動を停止させる制御を行う。
When no failure occurs in the inverter 140, the controller 340 controls the motor 200 by, for example, three-phase conduction control. When a failure occurs in the inverter 140, the controller 340 performs control to stop the driving of the motor 200, for example.
このように、コントローラ340は、インバータ140が正常であるか異常であるかに応じて、モータ200の制御を変更することができる。
As such, the controller 340 can change the control of the motor 200 depending on whether the inverter 140 is normal or abnormal.
(実施形態2)
図24は、本実施形態による電動パワーステアリング装置3000の典型的な構成を模式的に示す。
Second Embodiment
FIG. 24 schematically shows a typical configuration of an electric
自動車等の車両は一般に、電動パワーステアリング装置を有する。本実施形態による電動パワーステアリング装置3000は、ステアリングシステム520、および補助トルクを生成する補助トルク機構540を有する。電動パワーステアリング装置3000は、運転者がステアリングハンドルを操作することによって発生するステアリングシステムの操舵トルクを補助する補助トルクを生成する。補助トルクにより、運転者の操作の負担は軽減される。
Vehicles such as automobiles generally have an electric power steering device. The electricpower steering apparatus 3000 according to the present embodiment has a steering system 520 and an auxiliary torque mechanism 540 that generates an auxiliary torque. Electric power steering apparatus 3000 generates an assist torque that assists the steering torque of the steering system generated by the driver operating the steering wheel. The assist torque reduces the burden on the driver's operation.
Vehicles such as automobiles generally have an electric power steering device. The electric
ステアリングシステム520は、例えばステアリングハンドル521、ステアリングシャフト522、自在軸継手523A、523B、回転軸524、ラックアンドピニオン機構525、ラック軸526、左右のボールジョイント552A、552B、タイロッド527A、527B、ナックル528A、528B、および左右の操舵車輪529A、529Bから構成され得る。
Thesteering system 520 includes, for example, a steering handle 521, a steering shaft 522, free shaft joints 523A and 523B, a rotating shaft 524, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, and knuckles 528A. , 528B, and left and right steering wheels 529A, 529B.
The
補助トルク機構540は、例えば、操舵トルクセンサ541、自動車用電子制御ユニット(ECU)542、モータ543および減速機構544などから構成される。操舵トルクセンサ541は、ステアリングシステム520における操舵トルクを検出する。ECU542は、操舵トルクセンサ541の検出信号に基づいて駆動信号を生成する。モータ543は、駆動信号に基づいて操舵トルクに応じた補助トルクを生成する。モータ543は、減速機構544を介してステアリングシステム520に、生成した補助トルクを伝達する。
The auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an electronic control unit (ECU) 542 for a car, a motor 543, a reduction mechanism 544, and the like. The steering torque sensor 541 detects a steering torque in the steering system 520. The ECU 542 generates a drive signal based on a detection signal of the steering torque sensor 541. The motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal. The motor 543 transmits the generated assist torque to the steering system 520 via the reduction mechanism 544.
ECU542は、例えば、実施形態1によるコントローラ340および駆動回路350などを有する。自動車ではECUを核とした電子制御システムが構築される。電動パワーステアリング装置3000では、例えば、ECU542、モータ543およびインバータ545によって、モータ駆動ユニットが構築される。そのシステムに、実施形態1によるモータモジュール2000を好適に用いることができる。
The ECU 542 includes, for example, the controller 340 and the drive circuit 350 according to the first embodiment. In automobiles, an electronic control system is built around an ECU. In the electric power steering apparatus 3000, for example, a motor drive unit is constructed by the ECU 542, the motor 543 and the inverter 545. The motor module 2000 by Embodiment 1 can be used suitably for the system.
本開示の実施形態は、シフトバイワイヤ、ステアリングバイワイヤ、ブレーキバイワイヤなどのエックスバイワイヤおよびトラクションモータなどのモータ制御システムにも好適に用いられる。例えば、本開示の実施形態によるモータ制御方法を実装したEPSは、日本政府および米国運輸省道路交通***(NHTSA)によって定められたレベル0から4(自動化の基準)に対応した自動運転車に搭載され得る。
Embodiments of the present disclosure are also suitably used in motor control systems such as shift by wire, steering by wire, X by wire such as brake by wire, and traction motors. For example, an EPS implementing a motor control method according to an embodiment of the present disclosure is an autonomous vehicle corresponding to levels 0 to 4 (standards of automation) defined by the Government of Japan and the Road Traffic Safety Administration (NHTSA) of the US Department of Transportation. It can be loaded.
本開示の実施形態は、掃除機、ドライヤ、シーリングファン、洗濯機、冷蔵庫および電動パワーステアリング装置などの、各種モータを備える多様な機器に幅広く利用され得る。
Embodiments of the present disclosure can be widely used in a variety of devices equipped with various motors, such as vacuum cleaners, dryers, ceiling fans, washing machines, refrigerators, and electric power steering devices.
100、100A:インバータユニット、101:電源、120:第1インバータ、130:第2インバータ、140:インバータ、150:電流センサ、200:モータ、300:制御回路、310:電源回路、320:角度センサ、330:入力回路、340:マイクロコントローラ、350:駆動回路、360:ROM、1000:電力変換装置、2000:モータモジュール、3000:電動パワーステアリング装置
100, 100A: inverter unit, 101: power supply, 120: first inverter, 130: second inverter, 140: inverter, 150: current sensor, 200: motor, 300: control circuit, 310: power circuit, 320: angle sensor , 330: input circuit, 340: microcontroller, 350: drive circuit, 360: ROM, 1000: power converter, 2000: motor module, 3000: electric power steering device
Claims (9)
- モータに電力を供給する電力変換装置の故障の有無を診断する故障診断方法であって、
前記電力変換装置は、複数のスイッチング素子を備え、
前記複数のスイッチング素子は、前記モータが備えるn相(nは3以上の整数)の巻線に接続され、
前記複数のスイッチング素子のそれぞれにおいて、
前記スイッチング素子がオン状態に制御されたときに前記スイッチング素子に流れる電流が所定電流未満であるか判定するステップと、
前記スイッチング素子に流れる電流が前記所定電流未満である場合、前記スイッチング素子に流れる電流が前記所定電流未満になる時間を検出するステップと、
前記検出した時間が所定時間以上であるか判定するステップと、
前記検出した時間が前記所定時間以上である場合、前記検出した時間が前記所定時間以上になる回数をカウントするステップと、
前記カウントした合計回数が所定回数以上であるか判定するステップと、
を実行し、
前記n相のうちの、前記カウントした合計回数が前記所定回数以上となるスイッチング素子が接続される前記巻線の相を故障した相と判定する、故障診断方法。
A failure diagnosis method for diagnosing the presence or absence of a failure of a power conversion device that supplies power to a motor, comprising:
The power converter includes a plurality of switching elements,
The plurality of switching elements are connected to windings of n phases (n is an integer of 3 or more) included in the motor,
In each of the plurality of switching elements,
Determining whether the current flowing through the switching element is less than a predetermined current when the switching element is controlled to be in the on state;
Detecting the time during which the current flowing through the switching element is less than the predetermined current if the current flowing through the switching element is less than the predetermined current;
Determining whether the detected time is a predetermined time or more;
Counting the number of times the detected time is greater than or equal to the predetermined time if the detected time is greater than or equal to the predetermined time;
Determining whether the counted total number is equal to or greater than a predetermined number;
Run
The failure diagnosis method determines the phase of the winding to which the switching element having the total counted number of the n phases is equal to or more than the predetermined number is connected.
- 前記スイッチング素子を流れる電流が前記所定電流未満でない場合、前記スイッチング素子は正常であると判定するステップをさらに含む、請求項1に記載の故障診断方法。
The failure diagnosis method according to claim 1, further comprising the step of determining that the switching element is normal if the current flowing through the switching element is not less than the predetermined current.
- 前記検出した時間が所定時間以上でない場合、前記スイッチング素子は正常であると判定するステップをさらに含む、請求項1または2に記載の故障診断方法。
The failure diagnosis method according to claim 1, further comprising the step of determining that the switching element is normal if the detected time is not a predetermined time or more.
- 前記カウントした合計回数が前記所定回数以上でない場合、前記スイッチング素子は正常であると判定するステップをさらに含む、請求項1から3のいずれかに記載の故障診断方法。
The failure diagnosis method according to any one of claims 1 to 3, further comprising the step of determining that the switching element is normal if the counted total number is not more than the predetermined number.
- 前記スイッチング素子はトランジスタであり、
前記スイッチング素子を流れる電流は、前記トランジスタのソースとドレインとの間を流れる電流である、請求項1から4のいずれかに記載の故障診断方法。
The switching element is a transistor,
The fault diagnosis method according to any one of claims 1 to 4, wherein the current flowing through the switching element is a current flowing between a source and a drain of the transistor.
- 請求項1から5のいずれかに記載の故障診断方法を実行するモータ制御方法であって、
前記スイッチング素子は故障していないと判定したときは、第1制御モードで前記モータを制御し、
前記スイッチング素子は故障していると判定したときは、前記第1の制御モードとは異なる第2制御モードで前記モータを制御する、モータ制御方法。
A motor control method for executing the failure diagnosis method according to any one of claims 1 to 5, comprising:
When it is determined that the switching element has not failed, the motor is controlled in the first control mode,
And controlling the motor in a second control mode different from the first control mode when it is determined that the switching element is broken.
- モータに電力を供給する電力変換装置であって、
複数のスイッチング素子と、
前記複数のスイッチング素子のオンとオフの切替え動作を制御する制御回路と、
を備え、
前記複数のスイッチング素子は、前記モータが備えるn相(nは3以上の整数)の巻線に接続され、
前記制御回路は、前記複数のスイッチング素子のそれぞれにおいて、
前記スイッチング素子がオン状態に制御されたときに前記スイッチング素子に流れる電流が所定電流未満であるか判定し、
前記スイッチング素子に流れる電流が前記所定電流未満である場合、前記スイッチング素子に流れる電流が前記所定電流未満になる時間を検出し、
前記検出した時間が所定時間以上であるか判定し、
前記検出した時間が前記所定時間以上である場合、前記検出した時間が前記所定時間以上になる回数をカウントし、
前記カウントした合計回数が所定回数以上であるか判定し、
前記制御回路は、前記n相のうちの、前記カウントした合計回数が前記所定回数以上となるスイッチング素子が接続される前記巻線の相を故障した相と判定する、電力変換装置。
A power converter for supplying power to a motor, wherein
With multiple switching elements,
A control circuit that controls an on / off switching operation of the plurality of switching elements;
Equipped with
The plurality of switching elements are connected to windings of n phases (n is an integer of 3 or more) included in the motor,
The control circuit is configured to control each of the plurality of switching elements
It is determined whether the current flowing through the switching element is less than a predetermined current when the switching element is controlled to the on state.
When the current flowing through the switching element is less than the predetermined current, the time when the current flowing through the switching element is less than the predetermined current is detected.
It is determined whether the detected time is a predetermined time or more,
When the detected time is equal to or longer than the predetermined time, the number of times the detected time is equal to or longer than the predetermined time is counted,
It is determined whether the counted total number is equal to or greater than a predetermined number,
The power conversion device, wherein the control circuit determines that the phase of the winding to which the switching element having the total counted number of the n phases is equal to or more than the predetermined number is the phase that has failed.
- モータと、
請求項7に記載の電力変換装置と、
を備えるモータモジュール。
Motor,
A power converter according to claim 7;
Motor module comprising:
- 請求項8に記載のモータモジュールを備える電動パワーステアリング装置。 An electric power steering apparatus comprising the motor module according to claim 8.
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