WO2019150912A1 - Power conversion device, driving device, and power steering device - Google Patents

Power conversion device, driving device, and power steering device Download PDF

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Publication number
WO2019150912A1
WO2019150912A1 PCT/JP2019/000631 JP2019000631W WO2019150912A1 WO 2019150912 A1 WO2019150912 A1 WO 2019150912A1 JP 2019000631 W JP2019000631 W JP 2019000631W WO 2019150912 A1 WO2019150912 A1 WO 2019150912A1
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WO
WIPO (PCT)
Prior art keywords
inverter
neutral point
power
relay circuit
motor
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Application number
PCT/JP2019/000631
Other languages
French (fr)
Japanese (ja)
Inventor
香織 鍋師
弘光 大橋
北村　高志
Original Assignee
日本電産株式会社
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Publication date
Application filed by 日本電産株式会社 filed Critical 日本電産株式会社
Priority to JP2019568964A priority Critical patent/JPWO2019150912A1/en
Publication of WO2019150912A1 publication Critical patent/WO2019150912A1/en

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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
    • 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

Definitions

  • the present invention relates to a power conversion device, a drive device, and a power steering device.
  • Patent Document 1 discloses a power conversion device having two inverter units.
  • a failure of a switching element is detected by a failure detection means.
  • the on / off operation control of the switching element is switched from normal time control to failure time control to drive the rotating electric machine in order to continue driving the rotating electric machine (motor).
  • an object of the present invention is to realize an efficient element arrangement.
  • One aspect of a power conversion device is a power conversion device that converts power from a power source into power supplied to a motor having n-phase (n is an integer of 3 or more) windings.
  • a first inverter connected to one end of the wire; a first mounting board on which the first inverter is mounted; a second inverter connected to the other end relative to the one end; the second inverter being mounted;
  • One aspect of the drive device includes the power converter, and a motor connected to the power converter and supplied with power converted by the power converter.
  • One aspect of the power steering device includes the power conversion device, a motor to which power converted by the power conversion device is supplied, and a power steering mechanism driven by the motor.
  • the arrangement area on the mounting substrate is effectively utilized, or the wiring path for the motor winding is simplified, so that efficient element arrangement is realized.
  • FIG. 1 is a diagram schematically showing a block configuration of a motor drive unit according to the present embodiment.
  • FIG. 2 is a diagram schematically showing a circuit configuration of the motor drive unit according to the present embodiment.
  • FIG. 3 is a diagram showing current values flowing in coils of each phase of the motor in a normal state.
  • FIG. 4 is a diagram schematically illustrating a hardware configuration of the motor drive unit.
  • FIG. 5 is a diagram schematically illustrating a hardware configuration of the first mounting board and the second mounting board.
  • FIG. 6 is a diagram illustrating a hardware configuration around the angle sensor.
  • FIG. 7 is a diagram showing the state of the magnetic field by the first sensor magnet.
  • FIG. 8 is a diagram illustrating a state of the magnetic field by the first sensor magnet.
  • FIG. 1 is a diagram schematically showing a block configuration of a motor drive unit according to the present embodiment.
  • FIG. 2 is a diagram schematically showing a circuit configuration of the motor drive unit according to the present embodiment.
  • FIG. 9 is a diagram illustrating a modification example in which the sensor configuration is different.
  • FIG. 10 is a diagram showing a modification example in which the magnet configuration is different.
  • FIG. 11 is a diagram illustrating a modification in which the arrangement of the heat sink is considered.
  • FIG. 12 is a diagram schematically illustrating a hardware configuration of a mounting board according to a modified example having a different board configuration.
  • FIG. 13 is a diagram schematically illustrating a circuit configuration according to a modified example in which the configuration of the neutral point relay circuit is different.
  • FIG. 14 is a diagram schematically illustrating a circuit configuration according to another modification example in which the configuration of the neutral point relay circuit is different.
  • FIG. 15 is a diagram schematically illustrating a circuit configuration according to still another modification example in which the configuration of the neutral point relay circuit is different.
  • FIG. 16 is a diagram showing another modification example of the modification example shown in FIG.
  • FIG. 17 is a diagram schematically showing a hardware configuration of the motor drive unit in the modification shown in FIG.
  • FIG. 18 is a diagram schematically illustrating the hardware configuration of the first mounting board and the second mounting board in the hardware configuration illustrated in FIG. 11.
  • FIG. 19 is a diagram showing a modified example of the substrate configuration different from that of FIG.
  • FIG. 20 is a diagram schematically illustrating the configuration of the power steering apparatus according to the present embodiment.
  • FIG. 1 is a diagram schematically showing a block configuration of a motor drive unit 1000 according to the present embodiment.
  • the motor drive unit 1000 includes power supply apparatuses 101 and 102, a motor 200, and control circuits 301 and 302.
  • a motor driving unit 1000 including a motor 200 as a component will be described.
  • the motor drive unit 1000 including the motor 200 corresponds to an example of the drive device of the present invention.
  • the motor drive unit 1000 may be an apparatus for driving the motor 200 that does not include the motor 200 as a component.
  • the motor drive unit 1000 that does not include the motor 200 corresponds to an example of the power conversion device of the present invention.
  • the first power supply apparatus 101 includes a first inverter 111, a second neutral point relay circuit 121, a current sensor 401, and a voltage sensor 411.
  • the second power supply apparatus 102 includes a second inverter 112, a first neutral point relay circuit 122, a current sensor 402 and a voltage sensor 412. *
  • the motor drive unit 1000 can convert the power from the power source (reference numerals 403 and 404 in FIG. 2) into the power to be supplied to the motor 200 by the two power supply devices 101 and 102.
  • the first and second inverters 111 and 112 can convert DC power into three-phase AC power that is a pseudo sine wave of U phase, V phase, and W phase.
  • the first inverter 111 is connected to one end 210 of the coil of the motor 200, and the second inverter 112 is connected to the other end 220 of the coil of the motor 200.
  • connection between components (components) means electrical connection unless otherwise specified.
  • the motor 200 is, for example, a three-phase AC motor.
  • the motor 200 has U-phase, V-phase, and W-phase coils.
  • the winding method of the coil is, for example, concentrated winding or distributed winding.
  • the control circuits 301 and 302 include microcontrollers 341 and 342, as will be described in detail later.
  • the first control circuit 301 controls the first power supply apparatus 101 based on input signals from the current sensor 401 and the angle sensor 321.
  • the second control circuit 302 controls the second power supply apparatus 102 based on input signals from the current sensor 402 and the angle sensor 322.
  • a control method of the power supply devices 101 and 102 in the control circuits 301 and 302 for example, a control method selected from vector control and direct torque control (DTC) is used.
  • DTC direct torque control
  • FIG. 2 is a diagram schematically showing a circuit configuration of the motor drive unit 1000 according to the present embodiment. However, FIG. 2 mainly shows the circuit configuration of the power supply apparatuses 101 and 102. *
  • the motor drive unit 1000 is connected to a power source.
  • the power supply includes a first power supply 403 and a second power supply 404 that are independent of each other.
  • the power supplies 403 and 404 generate a predetermined power supply voltage (for example, 12V).
  • a DC power supply is used as the power supplies 403 and 404.
  • the power supplies 403 and 404 may be AC-DC converters, DC-DC converters, or batteries (storage batteries).
  • the motor drive unit 1000 may include a power source therein. *
  • the motor drive unit 1000 includes coils 103 and 104, a capacitor 105, a first inverter 111, a second inverter 112, a first neutral point relay circuit 122, a second neutral point relay circuit 121, a motor 200, and control circuits 301 and 302. Is provided. *
  • the motor drive unit 1000 includes a first system corresponding to the one end 210 side of the coil (winding) of the motor 200 and a second system corresponding to the other end 220 side of the coil (winding) of the motor 200.
  • the first system includes a first inverter 111, a first neutral relay circuit 122, and a first control circuit 301.
  • the second system includes a second inverter 112, a second neutral relay circuit 121, and a second control circuit 302.
  • the first system inverter 111 and the control circuit 301 are supplied with power from the first power supply 403.
  • the second system inverter 112 and the control circuit 302 are supplied with power from the second power supply 404. Since the drive system including the power supply and the control circuit is made redundant including the power supply, as described later, even when the power supply in one system is abnormal, the power supply is continued by the other system. *
  • the power supply apparatuses 101 and 102 have a configuration in which part of the above-described two systems is straddled.
  • the first power supply apparatus 101 includes a first system inverter 111, a second system neutral point relay circuit 121, and a first system control circuit 301.
  • the first system inverter 111 and the second system neutral point relay circuit 121 are controlled by the first system control circuit 301.
  • the second power supply apparatus 102 includes a second system inverter 112, a first system first neutral point relay circuit 122, and a second system control circuit 302.
  • the second system inverter 112 and the first system first neutral relay circuit 122 are controlled by the second system control circuit 302. *
  • Coils 103 and 104 are provided between the power supplies 403 and 404 and the inverters 111 and 112.
  • the coils 103 and 104 function as a noise filter and smooth high frequency noise included in the voltage waveform supplied to each of the inverters 111 and 112.
  • the coils 103 and 104 smooth the high frequency noise to prevent the high frequency noise generated by the inverters 111 and 112 from flowing out to the power sources 403 and 404.
  • a capacitor 105 is connected to the power supply terminals of the inverters 111 and 112.
  • the capacitor 105 is a so-called bypass capacitor and suppresses voltage ripple.
  • the capacitor 105 is, for example, an electrolytic capacitor, and the capacity and the number to be used are appropriately determined according to the design specifications. *
  • the first inverter 111 includes a bridge circuit having three legs. Each leg includes a high-side switch element connected between the power source and the motor 200 and a low-side switch element connected between the motor 200 and the ground. Specifically, the U-phase leg includes a high-side switch element 113H and a low-side switch element 113L. The V-phase leg includes a high-side switch element 114H and a low-side switch element 114L. The W-phase leg includes a high-side switch element 115H and a low-side switch element 115L.
  • the switch element for example, a field effect transistor (MOSFET or the like) or an insulated gate bipolar transistor (IGBT) is used. When the switch element is an IGBT, a diode (freewheel) is connected in antiparallel with the switch element.
  • MOSFET field effect transistor
  • IGBT insulated gate bipolar transistor
  • the first inverter 111 includes, for example, shunt resistors 113R, 114R, and 115R as current sensors 401 (see FIG. 1) for detecting currents flowing through the windings of the U-phase, V-phase, and W-phase, respectively. Prepare for each leg.
  • the current sensor 401 includes a current detection circuit (not shown) that detects a current flowing through each shunt resistor.
  • a shunt resistor can be connected between the low side switch element and ground at each leg.
  • the resistance value of the shunt resistor is, for example, about 0.5 m ⁇ to 1.0 m ⁇ . *
  • the number of shunt resistors may be other than three.
  • two shunt resistors 113R and 114R for U phase and V phase, two shunt resistors 114R and 115R for V phase and W phase, or two shunt resistors 113R and 115R for U phase and W phase are used. May be.
  • the number of shunt resistors to be used and the arrangement of the shunt resistors are appropriately determined in consideration of the product cost and design specifications. *
  • the second inverter 112 includes a bridge circuit having three legs.
  • the U-phase leg includes a high-side switch element 116H and a low-side switch element 116L.
  • the V-phase leg includes a high-side switch element 117H and a low-side switch element 117L.
  • the W-phase leg includes a high-side switch element 118H and a low-side switch element 118L.
  • the second inverter 112 includes, for example, shunt resistors 116R, 117R, and 118R. *
  • the first inverter 111 is connected to one end 210 of a coil (winding) of the motor 200. More specifically, the U-phase leg of the first inverter 111 (that is, the node between the high-side switch element and the low-side switch element) is connected to one end 210 of the U-phase coil of the motor 200. The V-phase leg of the first inverter 111 is connected to one end 210 of the V-phase coil. The W-phase leg of the first inverter 111 is connected to one end 210 of the W-phase coil. *
  • the second inverter 112 is connected to the other end 220 of the coil (winding) of the motor 200. More specifically, the U-phase leg of the second inverter 112 is connected to the other end 220 of the U-phase coil of the motor 200. The V-phase leg of the second inverter 112 is connected to the other end 220 of the V-phase coil. The W-phase leg of the second inverter 112 is connected to the other end 220 of the W-phase coil. *
  • the first neutral point relay circuit 122 switches the formation / non-formation of the neutral point on the one end 210 side of the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. Is possible. Specifically, the first neutral point relay circuit 122 is connected to one end 210 of the coil of the motor 200 in parallel with the first inverter 111. The first neutral point relay circuit 122 can switch connection / disconnection between the one ends 210 of the coils of the motor 200. *
  • the first neutral point relay circuit 122 has three first neutral point relays 123, 124, and 125 each having one end connected in common to the node N1 and the other end connected to a coil of each phase of the motor 200.
  • first neutral relay 123 is connected to node N1 and one end 210 of the U-phase coil.
  • First neutral point relay 124 is connected to node N1 and one end 210 of the V-phase coil.
  • First neutral point relay 125 is connected to node N1 and one end 210 of the W-phase coil.
  • the second neutral point relay circuit 121 switches the formation / non-formation of the neutral point on the other end 220 side among the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. It is possible. Specifically, the second neutral relay circuit 121 is connected to the other end 220 of the coil of the motor 200 in parallel with the second inverter 112. The second neutral point relay circuit 121 can switch connection / disconnection between the other ends 220 of the coils of the motor 200. *
  • the second neutral point relay circuit 121 has three second neutral point relays 126, 127, and 128, one end of which is commonly connected to the node N 2 and the other end is connected to a coil of each phase of the motor 200.
  • second neutral point relay 126 is connected to node N2 and the other end 220 of the U-phase coil.
  • Second neutral point relay 127 is connected to node N2 and other end 220 of the V-phase coil.
  • Second neutral point relay 128 is connected to node N2 and other end 220 of the W-phase coil.
  • a semiconductor switch element such as a MOSFET or a mechanical relay is used. *
  • the control circuits 301 and 302 include, for example, power supply circuits 311 and 312, angle sensors 321 and 322, input circuits 331 and 332, microcontrollers 341 and 342, drive circuits 351 and 352, and ROMs 361 and 362. .
  • the control circuits 301 and 302 are connected to the power supply apparatuses 101 and 102.
  • the control circuits 301 and 302 control the power supply apparatuses 101 and 102.
  • the first control circuit 301 controls the first inverter 111 and the second neutral point relay circuit 122.
  • the second control circuit 302 controls the second inverter 112 and the first neutral point relay circuit 121. *
  • the control circuits 301 and 302 can realize closed-loop control by controlling the target rotor position (rotation angle), rotation speed, current, and the like.
  • the rotation speed is obtained, for example, by differentiating the rotation angle (rad) with time, and is represented by the number of rotations (rpm) at which the rotor rotates per unit time (for example, 1 minute).
  • the control circuits 301 and 302 can also control the target motor torque.
  • the control circuits 301 and 302 may include a torque sensor for torque control, but torque control is possible even if the torque sensor is omitted. Further, a sensorless algorithm may be provided instead of the angle sensor.
  • the two control circuits 301 and 302 synchronize their control operations by performing control in synchronization with the rotation of the motor.
  • the power supply circuits 311 and 312 generate a DC voltage (for example, 3V, 5V) necessary for each block in the control circuits 301 and 302.
  • the angle sensors 321 and 322 are, for example, Hall ICs.
  • the angle sensors 321 and 322 are also realized by a combination of an MR sensor having a magnetoresistive (MR) element and a sensor magnet.
  • the angle sensors 321 and 322 detect the rotation angle of the rotor of the motor 200, and output a rotation signal representing the detected rotation angle to the microcontrollers 341 and 342.
  • the angle sensors 321 and 322 may not be required. *
  • the voltage sensors 411 and 412 detect the voltage at one end of the neutral point relay circuits 121 and 122 connected to the coil of the motor 200 and output the detected voltage values to the input circuits 331 and 332.
  • the input circuits 331 and 332 receive motor current values detected by the current sensors 401 and 402 (hereinafter referred to as “actual current values”) and voltage values detected by the voltage sensors 411 and 412.
  • the input circuits 331 and 332 convert the actual current value and voltage value level to the input levels of the microcontrollers 341 and 342 as necessary, and output the actual current value and voltage value to the microcontrollers 341 and 342, respectively.
  • the input circuits 331 and 332 are analog-digital conversion circuits. *
  • the microcontrollers 341 and 342 receive the rotor rotation signals detected by the angle sensors 321 and 322 and also receive the actual current value and voltage value output from the input circuits 331 and 332.
  • the microcontrollers 341 and 342 generate a PWM signal by setting a target current value according to the actual current value and the rotation signal of the rotor, and output the generated PWM signal to the drive circuits 351 and 352.
  • the microcontrollers 341 and 342 generate PWM signals for controlling the switching operation (turn-on or turn-off) of each switch element in the inverters 111 and 112 of the power supply apparatuses 101 and 102.
  • microcontrollers 341 and 342 can generate a signal for determining the on / off state of the neutral point relay circuits 121 and 122 according to the received voltage value.
  • the drive circuits 351 and 352 are, for example, gate drivers.
  • the drive circuits 351 and 352 generate a control signal (for example, a gate control signal) for controlling the switching operation of each switch element in the first and second inverters 111 and 112 according to the PWM signal, and generate the generated control signal for each switch element.
  • the drive circuits 351 and 352 are connected to the neutral point relay circuits 121 and 122 according to signals from the microcontrollers 341 and 342 that determine the on / off states of the neutral point relay circuits 121 and 122, respectively. It is possible to generate a control signal for turning on / off the sex point relay and to supply the generated control signal to each neutral point relay.
  • the microcontrollers 341 and 342 may have the functions of the drive circuits 351 and 352. In that case, the drive circuits 351 and 352 are omitted. *
  • the ROMs 361 and 362 are, for example, a writable memory (for example, PROM), a rewritable memory (for example, a flash memory), or a read-only memory.
  • the ROMs 361 and 362 store a control program including a command group for causing the microcontrollers 341 and 342 to control the power supply apparatuses 101 and 102.
  • the control program is temporarily expanded in a RAM (not shown) at the time of booting. *
  • Control of the power supply apparatuses 101 and 102 includes normal and abnormal control.
  • the control circuits 301 and 302 (mainly the microcontrollers 341 and 342) can switch the control of the power supply apparatuses 101 and 102 from normal control to abnormal control.
  • the on / off states of the first neutral point relay circuit 122 and the second neutral point relay circuit 121 are determined according to the type of control.
  • a specific example of the operation of the motor drive unit 1000 will be described, and a specific example of the operation of the power supply apparatus 100 will be mainly described. (Control during normal operation)
  • Normal indicates a state in which both of the two power supplies 403 and 404, the two inverters 111 and 112, and the two control circuits 301 and 302 operate correctly.
  • control circuits 301 and 302 turn off the first neutral point relay circuit 122 and turn off the second neutral point relay circuit 121.
  • the coils of each phase of the motor 200 are disconnected from each other, and the coils of each phase are independently connected to the legs of the two inverters 111 and 112, respectively.
  • the first neutral relay circuit 122 When the first neutral point relay circuit 122 is turned off, the one ends 210 of the coils of the respective phases of the motor 200 are insulated from each other. “The first neutral relay circuit 122 is turned off” means that the first neutral relays 123, 124, and 125 are all turned off. *
  • the second neutral point relay circuit 121 When the second neutral relay circuit 121 is turned off, the other ends 220 of the coils of the respective phases of the motor 200 are insulated from each other. “The second neutral point relay circuit 121 is turned off” means that the second neutral point relays 126, 127, and 128 are all turned off. *
  • the control circuits 301 and 302 drive the motor 200 by performing three-phase energization control using both the first inverter 111 and the second inverter 112.
  • the control circuits 301 and 302 can perform three-phase energization control by switching control of the switch element of the first inverter 111 and the switch element of the second inverter 112 with a duty that varies periodically.
  • the duty cycle variation in each of the first inverter 111 and the second inverter 112 can be switched by the control circuits 301 and 302.
  • FIG. 3 is a diagram showing current values flowing in the coils of the respective phases of the motor 200 in a normal state. *
  • FIG. 3 shows currents obtained by plotting current values flowing in the U-phase, V-phase, and W-phase coils of the motor 200 when the power supply devices 101 and 102 are controlled according to the normal three-phase energization control.
  • a waveform (sine wave) is illustrated.
  • the horizontal axis in FIG. 3 represents the motor electrical angle (deg), and the vertical axis represents the current value (A).
  • Ipk represents the maximum current value (peak current value) of each phase.
  • the power supply devices 101 and 102 can drive the motor 200 using, for example, a rectangular wave in addition to the sine wave illustrated in FIG.
  • Table 1 shows the value of current flowing through the terminals of each inverter for each electrical angle in the sine wave of FIG.
  • Table 1 specifically shows a current value at every electrical angle of 30 ° flowing at a connection point between the first inverter 111 and one end 210 of each of the U-phase, V-phase, and W-phase coils.
  • Table 1 shows current values for each electrical angle of 30 ° flowing through the connection points between the second inverter 112 and the other ends 220 of the U-phase, V-phase, and W-phase coils.
  • the direction of current flowing from one end 210 to the other end 220 of the motor 200 is defined as a positive direction.
  • the direction of current flowing from the other end 220 of the motor 200 to the one end 210 is defined as a positive direction. Therefore, the phase difference between the current of the first inverter 111 and the current of the second inverter 112 is 180 °.
  • the magnitude of the current value I 1 is [(3) 1/2 / 2] * I pk
  • the magnitude of the current value I 2 is I pk / 2.
  • the current of the U-phase coil is “0”.
  • a current of magnitude I 1 flows from the second inverter 112 to the first inverter 111 through the V-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the W-phase coil. 1 current flows.
  • the coils of the U-phase current of magnitude I 2 flows through the second inverter 112 from the first inverter 111, the coil of the V phase magnitude I from the second inverter 112 to the first inverter 111 pk of current flows, the coil of the W-phase current having a magnitude I 2 flows from the first inverter 111 to the second inverter 112.
  • a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil. 1 current flows.
  • the current of the W-phase coil is “0”.
  • a current of magnitude I pk flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil.
  • second current flows to the coil of the W-phase current having a magnitude I 2 flows from the second inverter 112 to the first inverter 111.
  • a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the W-phase coil. 1 current flows.
  • the current of the V-phase coil is “0”.
  • a current of magnitude I 2 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil. 2 current flows, and a current of magnitude I pk flows from the second inverter 112 to the first inverter 111 in the W-phase coil.
  • the current of the U-phase coil is “0”.
  • a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the V-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the W-phase coil. 1 current flows.
  • a current of magnitude I 2 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil.
  • pk of current flows, the coil of the W-phase current having a magnitude I 2 flows from the second inverter 112 to the first inverter 111.
  • a current of magnitude I 1 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil. 1 current flows.
  • the current of the W-phase coil is “0”.
  • a current of magnitude I pk flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil. 2 flows, and a current of magnitude I 2 flows from the first inverter 111 to the second inverter 112 in the W-phase coil.
  • a current of magnitude I 1 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the W-phase coil. 1 current flows.
  • the current of the V-phase coil is “0”.
  • a current of magnitude I 2 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil. 2 current flows, and a current of magnitude I pk flows from the first inverter 111 to the second inverter 112 in the W-phase coil.
  • the sum of the currents flowing through the three-phase coils in consideration of the current direction is “0” for each electrical angle.
  • the control circuits 301 and 302 can also perform control such that the sum of currents is a value other than “0”. (Control in case of abnormality)
  • Abnormality refers to a state in which one or more of the two power supplies 403 and 404, the two inverters 111 and 112, and the two control circuits 301 and 302 have failed.
  • the abnormality is roughly classified into an abnormality of the first system and an abnormality of the second system.
  • the abnormality of each system includes an abnormality due to a failure of the inverters 111 and 112 and an abnormality of the drive system.
  • drive system abnormality refers to various abnormal conditions such as an abnormality in the power supply only, an abnormality in the control circuit only, an abnormality in both the power supply and the control circuit, and a state where the control unit is stopped due to the power supply abnormality. including. Further, the failure of the inverters 111 and 112 includes disconnection, short circuit, switch element failure, and the like in the inverter circuit. *
  • the control circuits 301 and 302 analyze the voltage values detected by the voltage sensors 411 and 412 so that the counterpart to the system to which the self belongs. Detect abnormalities in the side system.
  • the control circuits 301 and 302 can check the voltages at the counterpart inverters 111 and 112 via the voltage sensors 411 and 412 and the neutral point relay circuits 121 and 122 under their control.
  • the neutral point relay circuits 121 and 122 are connected to the inverters 111 and 112 via the one end 210 and the other end 220 of the motor coil, and the voltage sensors 411 and 412 To detect.
  • the microcontrollers 341 and 342 can also detect an abnormality by analyzing a difference between the actual current value of the motor and the target current value.
  • the control circuits 301 and 302 are not limited to these methods, and widely known methods relating to abnormality detection can be used. *
  • the control circuits 301 and 302 switch the control of the power supply apparatuses 101 and 102 from normal control to abnormal control.
  • the timing for switching control from normal to abnormal is about 10 msec to 30 msec after the abnormality is detected.
  • the control circuits 301 and 302 turn on the neutral point relay circuits 121 and 122 of the counterpart system when an abnormality occurs. For example, when the first control circuit 301 detects an abnormality, the first control circuit 301 turns on the second neutral point relay circuit 121. *
  • the second neutral relay circuit 121 When the second neutral relay circuit 121 is turned on, the other ends 220 of the three-phase coils of the motor 200 are connected to each other. As a result, the coil of the motor 200 is Y-connected. Then, the node N2 in the second neutral point relay circuit 121 functions as a neutral point. “The second neutral point relay circuit 121 is turned on” means that the second neutral point relays 126, 127, and 128 in the second neutral point relay circuit 121 are all turned on. In this connected state, the first control circuit 301 can energize the coil of the motor 200 by performing three-phase energization control of the first inverter 111. *
  • the first control circuit 301 detects an abnormality, an abnormality occurs in the second system.
  • the abnormality in the second system is an abnormality in the drive system
  • the second control circuit 302 is in a state where it has lost control of the second inverter 112 (a state where the second control circuit 302 has failed). Even in such a case, since the first control circuit 301 controls the second neutral point relay circuit 121, a neutral point is formed on the second system side. Then, power supply to the motor 200 is continued by the inverter 111 on the first system side.
  • the second inverter 112 is cut off from the power from the power source 404 when the second control circuit 302 fails. Specifically, all the switch elements in the second inverter 112 are automatically turned off at the normal time when there is no control signal. For this reason, current does not flow from the power supply 404 to the second inverter 112, and power loss is suppressed.
  • the second control circuit 302 When the second control circuit 302 detects an abnormality, the second control circuit 302 turns on the first neutral point relay circuit 122. Note that the control circuits 301 and 302 may turn on the neutral point switches 131 and 132 even in a specific case other than when an abnormality occurs. *
  • the first neutral point relay circuit 122 When the first neutral point relay circuit 122 is turned on, the one ends 210 of the three-phase coils of the motor 200 are connected to each other. As a result, the coil of the motor 200 is Y-connected. Then, the node N1 in the first neutral point relay circuit 122 functions as a neutral point. “The first neutral point relay circuit 122 is turned on” means that all the first neutral point relays 123, 124, and 125 in the first neutral point relay circuit 122 are turned on. In this connected state, the second control circuit 302 can energize the coil of the motor 200 by controlling the second inverter 112 for three-phase energization. *
  • the second control circuit 302 detects an abnormality, it means that an abnormality has occurred in the first system.
  • the abnormality in the first system is an abnormality in the drive system
  • the first control circuit 301 is in a state where it cannot control the first inverter 111 (failed state). Even in such a case, since the second control circuit 302 controls the first neutral point relay circuit 122, a neutral point is formed on the first system side. Then, power supply to the motor 200 is continued by the inverter 112 on the second system side.
  • the first inverter 111 is cut off from the power from the power supply 403 when the first control circuit 301 fails. Specifically, all the switch elements in the first inverter 111 are automatically turned off at the normal time when there is no control signal. For this reason, current does not flow from the power source 403 to the first inverter 111, and power loss is suppressed.
  • control circuits 301 and 302 are configured to perform switching operations in the switching elements of the inverters 111 and 112, for example, by PWM control that can obtain a waveform similar to the current waveform shown in FIG. To control. *
  • Table 2 shows the values of the current flowing through the terminals of the second inverter 140 for each electrical angle when the second inverter 112 is controlled by, for example, three-phase energization control such that a waveform similar to the current waveform shown in FIG. 3 is obtained. It is illustrated in Table 2 specifically shows the current value at every electrical angle of 30 ° flowing through the connection point between the second inverter 112 and the other end 220 of each of the U-phase, V-phase, and W-phase coils. The definition of the current direction is as described above. *
  • a current of magnitude I 2 flows from the first inverter 111 to the second inverter 112 in the U-phase coil, and a magnitude of the current from the second inverter 112 to the first inverter 111 flows in the V-phase coil.
  • the current flow I pk the coil of the W-phase current having a magnitude I 2 flows from the first inverter 111 to the second inverter 112.
  • a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil. 1 current flows.
  • the current of the W-phase coil is “0”. The sum of the current flowing into the neutral point and the current flowing out of the neutral point is always “0” for each electrical angle.
  • the inverters 111 and 112 are set to the neutral point by a control method described in, for example, Japanese Patent Application Laid-Open No. 2014-192950. Is possible.
  • a special gate driver whose control signal voltage is different from that in the normal state is required.
  • neutralization by the neutral point relay circuits 121 and 122 only needs to be turned on when there is an abnormality, so only one on-voltage of the control signal is required and no special gate driver is required. It is.
  • FIG. 4 is a diagram schematically showing a hardware configuration of the motor drive unit 1000.
  • the motor drive unit 1000 includes the motor 200, the first mounting board 1001, the second mounting board 1002, the housing 1003, and the connectors 1004 and 1005 described above as hardware configurations. *
  • one end 210 and the other end 220 of the coil protrude and extend toward the mounting boards 1001 and 1002. Both the one end 210 and the other end 220 of the coil cross between the first mounting substrate 1001 and the second mounting substrate 1002. Specifically, both one end 210 and the other end 220 of the coil are connected to the second mounting substrate 1002, for example. Both one end 210 and the other end 220 of the coil pass through the second mounting substrate 1002 and are connected to the first mounting substrate 1001. *
  • the first mounting substrate 1001 and the second mounting substrate 1002 face each other.
  • the rotation axis of the motor 200 extends in the direction in which the substrate surfaces face each other.
  • the first mounting substrate 1001, the second mounting substrate 1002, and the motor 200 are housed in the housing 1003 so that their positions are fixed. *
  • FIG. 5 is a diagram schematically showing the hardware configuration of the first mounting board 1001 and the second mounting board 1002. *
  • a first inverter 111 and a second neutral relay circuit 121 are mounted on the first mounting board 1001.
  • a second inverter 112 and a first neutral relay circuit 122 are mounted on a second mounting board 1002 that is different from the first mounting board 1001. Since the circuits of each system made redundant in the first system and the second system are distributed to the two mounting boards 1001 and 1002, an efficient element arrangement in which the circuit scale is equalized on the two mounting boards is possible. It becomes. *
  • a first control circuit 301 is also mounted on the first mounting substrate 1001.
  • a second control circuit 302 is also mounted on the second mounting substrate 1002. Since the control circuits 301 and 302 are mounted on the same mounting board as the inverters 111 and 112 and the neutral point relay circuits 121 and 122 to be controlled by the control circuits 301 and 302, wiring for control is provided in the board. Fits in. Therefore, efficient element arrangement is possible. *
  • the first inverter 111 on the first mounting board 1001 and the first neutral relay circuit 122 on the second mounting board 1002 are mutually opposite when viewed in the opposing direction of the first mounting board 1001 and the second mounting board 1002. It is mounted at the overlapping position.
  • the second neutral relay circuit 121 on the first mounting board 1001 and the second inverter 112 on the second mounting board 1002 are viewed in the opposite direction of the first mounting board 1001 and the second mounting board 1002.
  • Such a circuit arrangement enables an efficient element arrangement in which the wiring path connecting the one end 210 and the other end 220 of the coil and each circuit is simplified.
  • the first inverter 111 on the first mounting substrate 1001 and the second inverter 112 on the second mounting substrate 1002 are symmetrically arranged when viewed in the opposing direction of the first mounting substrate 1001 and the second mounting substrate 1002. It becomes. Further, when viewed in the opposing direction of the first mounting board 1001 and the second mounting board 1002, the second neutral point relay circuit 121 on the first mounting board 1001 and the first neutrality on the second mounting board 1002 are used.
  • the point relay circuit 122 is symmetrically arranged. Such a symmetrical arrangement enables common board design for the two mounting boards 1001 and 1002.
  • FIG. 6 is a diagram illustrating a hardware configuration around the angle sensors 321 and 322. *
  • a first angle sensor 321 is mounted on the first mounting board 1001, and a second angle sensor 322 is mounted on the second mounting board 1002.
  • These angle sensors 321 and 322 are magnetic sensors, and sensor magnets 323 and 324 are provided between the two mounting boards 1001 and 1002. That is, the mounting boards 1001 and 1002 are provided on both sides of the sensor magnets 323 and 324, and each mounting board 1001 and 1002 includes an angle sensor 321 that is a magnetic sensor for detecting the rotation angle of the sensor magnets 323 and 324. 322 is mounted.
  • the angle sensors 321 and 322 are provided on the mounting boards 1001 and 1002, so that the redundancy of the angle sensors 321 and 322 is realized. Further, the independence due to the two control circuits 301 and 302 being individually mounted on the two mounting boards 1001 and 1002 is ensured from the viewpoint of sensor input. *
  • the first mounting board 1001 is mounted with the first inverter 111 connected to the motor 200 and the first control circuit 301 for controlling the first inverter 111, and the second mounting board 1002.
  • the second inverter 112 connected to the motor 200 and the second control circuit 302 that controls the second inverter 112 are mounted. For this reason, the redundancy of the angle sensors 321 and 322 associated with the two control systems is realized.
  • the sensor magnets 323 and 324 are fixed to the shaft 250, and the shaft 250 extends from the motor 200 toward the two mounting boards 1001 and 1002, and rotates together with the rotor of the motor 200.
  • the sensor magnets 323 and 324 may be fixed to the shaft 250 by direct fixing to the shaft or indirectly by other members.
  • a pin, a yoke, a plate, or the like may be attached to the shaft, and the sensor magnets 323, 324 may be fixed to the pin, the yoke, the plate, or the like.
  • a shaft for fixing the sensor magnets 323 and 324 may be connected to a motor shaft integrated with the rotor of the motor.
  • the shaft 250 penetrates the mounting board 1002 located on the motor 200 side of the two mounting boards 1001 and 1002. Since the shaft 250 penetrates at least one of the two mounting boards 1001 and 1002, the arrangement of the shaft 250 and the sensor magnets 323 and 324 becomes easy. *
  • two sensor magnets 323 and 324 are provided.
  • the first sensor magnet 323 is fixed to the tip of the shaft 250.
  • the first angle sensor 321 is positioned on the extension of the rotation axis of the shaft 250. In other words, the first angle sensor 321 is located on an extension in the direction in which the shaft 250 extends from the motor 200. The angle sensor 321 provided at such a position is less affected by the eccentricity or vibration of the shaft 250 in detecting the rotation angle.
  • the second sensor magnet 324 is a ring magnet through which the shaft 250 penetrates, and the sensor magnet 324 can be easily fixed to the shaft 250 as compared with the case where the shaft 250 does not penetrate.
  • the first sensor magnet 323 plays a role of applying a magnetic field toward the first angle sensor 321 mounted on the first mounting substrate 1001.
  • the second sensor magnet 324 plays a role of applying a magnetic field toward the second angle sensor 322 mounted on the second mounting substrate 1002.
  • the first sensor magnet 323 applies a magnetic field in the extension direction of the rotation axis of the shaft 250
  • the second sensor magnet 324 applies a magnetic field in the opposite direction to the first sensor magnet 323.
  • FIG. 7 is a diagram showing the state of the magnetic field by the first sensor magnet 323. *
  • the first sensor magnet 323 has a magnetic pole surface 325 in which an N pole and an S pole are arranged facing the substrate surface of the first mounting substrate 1001.
  • the magnetic pole surface 325 is a magnetic pole surface facing the direction in which the rotation axis of the shaft 250 extends.
  • the magnetic field 327 generated from the magnetic pole surface 325 rises from the magnetic pole surface 325 toward the substrate surface of the first mounting substrate 1001 and spreads in a range close to the magnetic pole surface 325.
  • the first angle sensor 321 is located on the extension of the rotation axis of the shaft 250.
  • the first angle sensor 321 is mounted at a position where at least a part of the first angle sensor 321 overlaps the first sensor magnet 323 when viewed from the direction in which the rotation axis of the shaft 250 extends.
  • One angle sensor 321 can be disposed close to the first sensor magnet 323. As a result, the distance between the two mounting substrates 1001 and 1002 is reduced, and the apparatus can be miniaturized.
  • FIG. 8 is a diagram showing the state of the magnetic field by the second sensor magnet 324. *
  • the second sensor magnet 324 has two magnetic pole surfaces 326 facing each other with the shaft 250 interposed therebetween.
  • the two magnetic pole surfaces 326 extend along the direction in which the shaft 250 extends, and one of the two magnetic pole surfaces 326 is an N pole and the other is an S pole.
  • the magnetic pole surfaces 326 extending along the rotation axis of the shaft 250 are located on both sides of the shaft 250, and the magnetic pole surfaces 326 having different polarities face each other with the shaft 250 interposed therebetween.
  • FIG. 8 shows two magnetic poles, one of which is an N pole and the other is an S pole. However, the configuration in which the direction of the magnetic pole surface is away from the shaft center (so-called radial direction) is used to increase the number of magnetic poles. Suitable. 8 shows a plurality of sensors as the second angle sensor 322, it is sufficient that at least one second angle sensor 322 is provided.
  • FIG. 9 is a diagram illustrating a modification example in which the sensor configuration is different.
  • the first angle sensor 321 is provided at a position off the extension line of the shaft 250.
  • the first sensor magnet 323 is a ring magnet through which the shaft 250 passes. That is, in this modification, the first angle sensor 321 and the first sensor magnet 323 are symmetrical with the second angle sensor 322 and the second sensor magnet 324. For this reason, the performance in the two angle sensors 321 and 322 made redundant becomes equivalent.
  • both the first sensor magnet 323 and the second sensor magnet 324 are provided not in the tip of the shaft 250 but in the middle of the shaft 250.
  • FIG. 10 is a diagram showing a modification example in which the magnet configuration is different. *
  • one sensor magnet 329 is provided in the middle of the shaft 250, and a magnetic field 330 is applied to both the first mounting board 1001 side and the second mounting board 1002 side from the one sensor magnet 329. spread.
  • the two angle sensors 321 and 322 detect the rotation angle with the magnetic field from the common sensor magnet 329.
  • FIG. 11 is a diagram showing a modification in which the arrangement of the heat sink is considered. *
  • one heat sink 1010 that is commonly used by the two mounting boards 1001 and 1002 is provided between the two mounting boards 1001 and 1002.
  • the shaft 250 penetrates one mounting substrate 1002 and also penetrates the heat sink 1010.
  • the first angle sensor 321 on the first mounting board 1001 is mounted on the surface of the first mounting board 1001 facing the heat sink 1010.
  • the second angle sensor 322 on the second mounting substrate 1002 is mounted on the surface of the second mounting substrate 1002 facing the heat sink 1010.
  • FIG. 12 is a diagram schematically showing a hardware configuration of a mounting board according to a modified example having a different board configuration. *
  • FIG. 13 is a diagram schematically showing a circuit configuration according to a modified example in which the configuration of the neutral point relay circuit is different. *
  • the first neutral point switch 132 is connected to the power supply terminal E1H located on the power supply 403 side of the first inverter 111 and the ground terminal E1L located on the ground side of the first inverter 111. Connected.
  • the first neutral point switch 132 functions as an example of a first neutral point relay circuit that switches connection / disconnection between the power supply terminal E1H and the ground terminal E1L.
  • the first neutral point switch 132 of the modification shown in FIG. 13 also has a neutral point on the one end 210 side of the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. It is possible to switch between formation and non-formation. *
  • connection between the power supply terminal E1H and the ground terminal E1L in the first neutral point relay circuit 122 can be switched by a smaller number of switch elements than the number of phases of the motor 200 (here, three phases as an example). Therefore, the circuit scale is smaller than the conventional structure.
  • the first neutral point switch 132 includes three power supply sides of the high-side switch elements 113H, 114H, and 115H and a ground side of the three low-side switch elements 113L, 114L, and 115L with respect to the first inverter 111. Can be switched with one element.
  • the second neutral point switch 131 is connected to the power supply terminal E2H located on the power supply 404 side in the second inverter 112 and the ground terminal E2L located on the ground side in the second inverter 112.
  • the second neutral point switch 131 functions as an example of a second neutral point relay circuit that switches connection / disconnection between the power supply terminal E2H and the ground terminal E2L.
  • the second neutral point switch 131 of the modification shown in FIG. 13 is also neutral on the other end 220 side of the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. It is possible to switch the formation / non-formation of points. *
  • Switching between connection / disconnection of the power supply terminal E2H and the ground terminal E2L in the second neutral point relay circuit 121 can be performed by a smaller number of switch elements than the number of phases of the motor 200 (here, three phases as an example). Therefore, the circuit scale is smaller than the conventional structure.
  • the second neutral point switch 131 includes three high-side switch elements 116H, 117H, and 118H on the power source side and three low-side switch elements 116L, 117L, and 118L on the ground side of the second inverter 112. Can be switched with one element.
  • separation switches 106 and 107 are provided between the coils 103 and 104 and the inverters 111 and 112.
  • the separation switches 106 and 107 can switch connection / disconnection between the power supplies 403 and 404 and the inverters 111 and 112.
  • the control circuits 301 and 302 turn on the neutral point switches 131 and 132 for the counterpart system.
  • the control circuits 301 and 302 may turn on the neutral point switches 131 and 132 even in a specific case other than when an abnormality occurs.
  • the separation switches 106 and 107 are automatically turned off when the control signal is stopped. For this reason, when the control circuits 301 and 302 become inoperable, the separation switches 106 and 107 of the system incapable of operating are turned off. *
  • the first control circuit 301 detects an abnormality
  • the first control circuit 301 turns on the second neutral point switch 131.
  • the separation switch 107 on the second system side is turned off as a result of whether the second control circuit 302 is turned off.
  • the second system When the first control circuit 301 detects an abnormality, the second system is in an abnormal state.
  • the abnormality in the second system is an abnormality in the drive system, the second control circuit 302 is in a state where it has lost control of the second inverter 112 (a state where the second control circuit 302 has failed). Even in such a case, since the first control circuit 301 controls the second neutral point switch 131, a neutral point is formed on the second system side. Then, power supply to the motor 200 is continued by the inverter 111 on the first system side.
  • the second control circuit 302 When the second control circuit 302 detects an abnormality in the modification shown in FIG. 13, the second control circuit 302 turns on the first neutral point switch 132. Also, the separation switch 106 on the first system side is turned off, or the second control circuit 302 is turned off. *
  • the parasitic diodes of the high-side switch element and the low-side switch element and the first neutral point switch 132 are used.
  • One ends 210 of the three-phase coils of the motor 200 are connected to each other. Therefore, the coil of the motor 200 is Y-connected.
  • the first neutral point switch 132 functions as a neutral point.
  • the first neutral point switch 132 that functions as a neutral point is insulated from the power source 403 when the separation switch 106 on the first system side is turned off.
  • FIG. 14 is a diagram schematically showing a circuit configuration according to another modified example in which the configuration of the neutral point relay circuit is different. *
  • the first neutral point relay circuit 122 includes a power supply terminal E1H located on the power supply 403 side in the first inverter 111 and a ground terminal E1L located on the ground side in the first inverter 111. Connected to.
  • the first neutral point relay circuit 122 can switch connection / disconnection between the power supply terminal E1H and the ground terminal E1L.
  • the first neutral point relay circuit 122 includes a first neutral point relay 123 and a backup relay 124. *
  • the first neutral point relay 123 is connected to or disconnected from the power supply side of the three high-side switch elements 113H, 114H and 115H and the ground side of the three low-side switch elements 113L, 114L and 115L with respect to the first inverter 111. Can be switched by one element.
  • the backup relay 124 is connected in parallel to the first neutral point relay 123. Since the switch operation is backed up by the backup relay 124 when the first neutral point relay 123 is in an OFF failure, the first neutral point relay circuit 122 can continue normal operation.
  • the high-side switch elements 113H, 114H, and 115H, the low-side switch elements 113L, 114L, and 115L, and the first neutral-point relay 123 in each circuit of the first inverter 111 and the first neutral point relay circuit 122 are semiconductors having a freewheeling diode. It is a switch element. And in the 1st inverter 111 and the 1st neutral point relay 123, a free-wheeling diode turns to a reverse direction.
  • the first neutral point relay circuit 122 including the first neutral point relay 123 connected in such a direction can switch the formation / non-formation of the neutral point.
  • the second neutral point relay circuit 121 is connected to the power supply terminal E2H located on the power supply 404 side in the second inverter 112 and the ground terminal E2L located on the ground side in the second inverter 112.
  • the second neutral point relay circuit 121 can switch connection / disconnection between the power supply terminal E2H and the ground terminal E2L.
  • the second neutral point relay circuit 121 includes a second neutral point relay 125 and a backup relay 126. *
  • the second neutral point relay 125 is connected to or disconnected from the power supply side of the three high side switch elements 116H, 117H and 118H and the ground side of the three low side switch elements 116L, 117L and 118L with respect to the second inverter 112. Can be switched by one element.
  • the backup relay 126 is connected in parallel to the second neutral point relay 125. Since the switch operation is backed up by the backup relay 126 when the second neutral point relay 125 is in an off failure, the second neutral point relay circuit 121 can continue normal operation. *
  • the high-side switch elements 116H, 117H, and 118H, the low-side switch elements 116L, 117L, and 118L, and the second neutral-point relay 125 in each circuit of the second inverter 112 and the second neutral point relay circuit 121 are semiconductors having a freewheeling diode. It is a switch element. And in the 2nd inverter 112 and the 2nd neutral point relay 125, a free-wheeling diode turns to a reverse direction.
  • the second neutral point relay circuit 121 including the second neutral point relay 125 connected in such a direction can switch the formation / non-formation of the neutral point.
  • FIG. 15 is a diagram schematically showing a circuit configuration according to still another modified example in which the configuration of the neutral point relay circuit is different. *
  • the backup relay is connected in series to the neutral point relay.
  • the backup relay 124 of the first neutral point relay circuit 122 is connected to the power supply terminal E1H and the ground terminal E1L in parallel with the first neutral point relay 123.
  • the backup relay 126 of the second neutral point relay circuit 121 is connected to the power supply terminal E2H and the ground terminal E2L in parallel with the second neutral point relay 125.
  • FIG. 16 is a diagram showing another modification example of the modification example shown in FIG. *
  • the two power supplies 403 and 404 are independent of each other but have a common ground.
  • the separation switches 108 and 109 are provided between the inverters 111 and 112 and the ground.
  • the separation switches 108 and 109 of the system in which the abnormality has occurred are turned off, and the current path from the neutral point to the ground is interrupted. By such interruption, a neutral point is formed in the system in which an abnormality has occurred, and three-phase energization control by a normal system becomes possible.
  • FIG. 16 as an example, a first power supply 403 for the first inverter 111 and a second power supply 404 for the second inverter 112 are shown. Since the separation switches 108 and 109 are provided between the inverters 111 and 112 and the ground, the motor drive unit 1000 may be connected to a single power source common to the first inverter 111 and the second inverter 112. (Hardware configuration of motor drive unit 1000 in the modified example) A hardware configuration of the motor drive unit 1000 in the modification shown in FIG. 7 will be described.
  • FIG. 17 is a diagram schematically showing a hardware configuration of motor drive unit 1000 in the modification shown in FIG.
  • one end 210 and the other end 220 of the coil protrude from the motor 200 and extend toward the mounting boards 1001 and 1002.
  • One end 210 of the coil is connected to the second mounting substrate 1001 and penetrates through the second mounting substrate 1001 and is connected to the first mounting substrate 1001. Further, the other end 220 of the coil is connected only to the second mounting substrate 1001. *
  • the first mounting substrate 1001 and the second mounting substrate 1002 face each other.
  • the rotation axis of the motor 200 extends in the direction in which the substrate surfaces face each other.
  • the first mounting substrate 1001, the second mounting substrate 1002, and the motor 200 are housed in the housing 1003 so that their positions are fixed. *
  • FIG. 18 is a diagram schematically showing the hardware configuration of the first mounting board 1001 and the second mounting board 1002 in the hardware configuration shown in FIG. *
  • a first inverter 111 and a second neutral point switch 131 are mounted on the first mounting board 1001. Further, the second inverter 112 and the first neutral point switch 132 are mounted on a second mounting board 1002 different from the first mounting board 1001. Since the circuits of each system made redundant in the first system and the second system are distributed to the two mounting boards, efficient element arrangement with the same circuit scale is possible for the two mounting boards. *
  • DC bars 230 and 240 are provided.
  • the DC bar 230 passes between the first mounting board 1001 and the second mounting board 1002 and is connected to the first neutral point switch 132.
  • the DC bar 240 passes between the first mounting board 1001 and the second mounting board 1002 and is connected to the second neutral point switch 131.
  • a bus bar, a pin, or the like may be provided instead of the DC bar.
  • a first control circuit 301 is also mounted on the first mounting substrate 1001.
  • a second control circuit 302 is also mounted on the second mounting substrate 1002. Since the control circuits 301 and 302 are mounted on the same mounting board as the inverters 111 and 112 and the neutral point switches 131 and 132 to be controlled by the control circuits 301 and 302, the wiring for control is on the same board. Fits in. Therefore, efficient element arrangement is possible.
  • FIG. 19 is a diagram showing a modification example in which the substrate configuration is different from that in FIG. *
  • a third mounting substrate 1007 is provided in addition to the first mounting substrate 1001 and the second mounting substrate 1002.
  • the third mounting substrate 1007 is located between the first mounting substrate 1001 and the second mounting substrate 1002.
  • the control circuits 301 and 302 are mounted on the third mounting board 1007, and the inverters 111 and 112 and the neutral point switches 131 and 132 are connected to the first mounting board 1001 and the first mounting board 1001 as in the hardware configuration shown in FIG. 2 mounted on a mounting substrate 1002.
  • a vehicle such as an automobile generally includes a power steering device.
  • the power steering device generates an auxiliary torque for assisting a steering torque of a steering system that is generated when a driver operates a steering wheel.
  • the auxiliary torque is generated by the auxiliary torque mechanism, and the burden on the operation of the driver can be reduced.
  • the auxiliary torque mechanism includes a steering torque sensor, an ECU, a motor, a speed reduction mechanism, and the like.
  • the steering torque sensor detects steering torque in the steering system.
  • the ECU generates a drive signal based on the detection signal of the steering torque sensor.
  • the motor generates auxiliary torque corresponding to the steering torque based on the drive signal, and transmits the auxiliary torque to the steering system via the speed reduction mechanism.
  • FIG. 20 is a diagram schematically showing the configuration of the power steering apparatus 2000 according to the present embodiment.
  • the electric power steering device 2000 includes a steering system 520 and an auxiliary torque mechanism 540. *
  • the steering system 520 is also referred to as, for example, a steering handle 521, a steering shaft 522 (also referred to as “steering column”), universal joints 523A, 523B, and a rotating shaft 524 (“pinion shaft” or “input shaft”). Provided.) *
  • the steering system 520 includes, for example, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckle 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A, 529B.
  • a rack and pinion mechanism 525 for example, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckle 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A, 529B.
  • the steering handle 521 is connected to the rotating shaft 524 via a steering shaft 522 and universal shaft joints 523A and 523B.
  • a rack shaft 526 is connected to the rotation shaft 524 via a rack and pinion mechanism 525.
  • the rack and pinion mechanism 525 includes a pinion 531 provided on the rotation shaft 524 and a rack 532 provided on the rack shaft 526.
  • the right steering wheel 529A is connected to the right end of the rack shaft 526 through a ball joint 552A, a tie rod 527A, and a knuckle 528A in this order.
  • the left steering wheel 529B is connected to the left end of the rack shaft 526 via a ball joint 552B, a tie rod 527B, and a knuckle 528B in this order.
  • the right side and the left side correspond to the right side and the left side as viewed from the driver sitting on the seat, respectively.
  • a steering torque is generated by the driver operating the steering handle 521, and is transmitted to the left and right steering wheels 529A and 529B via the rack and pinion mechanism 525. Accordingly, the driver can operate the left and right steering wheels 529A and 529B.
  • the auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an ECU 542, a motor 543, a speed reduction mechanism 544, and a power supply device 545.
  • the auxiliary torque mechanism 540 gives auxiliary torque to the steering system 520 from the steering handle 521 to the left and right steering wheels 529A and 529B.
  • the auxiliary torque may be referred to as “additional torque”. *
  • the power supply device 545 for example, the power supply devices 101 and 102 shown in FIG.
  • the motor 543 for example, the motor 200 shown in FIG.
  • the motor drive unit 1000 is preferably used.
  • a mechanism including elements other than the ECU 542, the motor 543, and the power supply device 545 among the elements illustrated in FIG. 20 corresponds to an example of a power steering mechanism driven by the motor 543. *
  • the steering torque sensor 541 detects the steering torque of the steering system 520 applied by the steering handle 521.
  • the ECU 542 generates a drive signal for driving the motor 543 based on a detection signal from the steering torque sensor 541 (hereinafter referred to as “torque signal”).
  • the motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal.
  • the auxiliary torque is transmitted to the rotating shaft 524 of the steering system 520 via the speed reduction mechanism 544.
  • the speed reduction mechanism 544 is, for example, a worm gear mechanism.
  • the auxiliary torque is further transmitted from the rotating shaft 524 to the rack and pinion mechanism 525. *
  • the power steering device 2000 is classified into a pinion assist type, a rack assist type, a column assist type, and the like depending on a place where an assist torque is applied to the steering system 520.
  • FIG. 14 shows a pinion assist type power steering apparatus 2000.
  • the power steering device 2000 is also applied to a rack assist type, a column assist type, and the like. *
  • the ECU 542 can receive not only a torque signal but also a vehicle speed signal, for example.
  • the microcontroller of the ECU 542 can vector-control the motor 543 based on a torque signal, a vehicle speed signal, or the like.
  • the ECU 542 sets a target current value based on at least the torque signal.
  • the ECU 542 preferably sets the target current value in consideration of the vehicle speed signal detected by the vehicle speed sensor and the rotor rotation signal detected by the angle sensor.
  • the ECU 542 can control the drive signal of the motor 543, that is, the drive current so that the actual current value detected by the current sensor (see FIG. 1) matches the target current value.
  • the left and right steering wheels 529A and 529B can be operated by the rack shaft 526 using the combined torque obtained by adding the assist torque of the motor 543 to the steering torque of the driver.
  • the motor drive unit 1000 of the above-described embodiment for the above-described electromechanical integrated motor, appropriate current control can be performed at both normal and abnormal times.
  • the power assist in the power steering device is continued both in the normal time and in the abnormal time.
  • the robustness of a power steering apparatus improves.

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Abstract

[Problem] To achieve the effective arrangement of elements. [Solution] This power conversion device is provided with: a first inverter connected to one end of a cable; a first mounting board on which the first inverter is mounted; a second inverter connected to the other end of the cable; a second mounting board on which the second inverter is mounted; a first neutral point relay circuit mounted on the second board and switching between formation and non-formation of a neutral point on the one end; and a second neutral point relay circuit mounted on the first board and switching between formation and non-formation of a neutral point on the other end, wherein the first inverter and the first neutral point relay circuit are mounted at positions overlapping each other when viewed in the direction in which the first mounting board and the second mounting board face each other, and the second inverter and the second neutral point relay circuit are mounted at positions overlapping each other when viewed in said direction.

Description

電力変換装置、駆動装置およびパワーステアリング装置Power conversion device, drive device, and power steering device
本発明は、電力変換装置、駆動装置およびパワーステアリング装置に関する。 The present invention relates to a power conversion device, a drive device, and a power steering device.
従来、２つのインバータによりモータの電力を変換するインバータ駆動システムが知られる。　 Conventionally, an inverter drive system that converts electric power of a motor by two inverters is known. *
例えば特許文献１には２つのインバータ部を有する電力変換装置が開示される。特許文献１では、故障検出手段によりスイッチング素子の故障が検出される。そして、スイッチング素子に故障が生じた場合、回転電機(モータ)の駆動継続のため、スイッチング素子のオンオフ作動制御が正常時制御から故障時制御に切り替えられて回転電機が駆動される。 For example, Patent Document 1 discloses a power conversion device having two inverter units. In Patent Document 1, a failure of a switching element is detected by a failure detection means. When a failure occurs in the switching element, the on / off operation control of the switching element is switched from normal time control to failure time control to drive the rotating electric machine in order to continue driving the rotating electric machine (motor).
特開２０１４－１９２９５０号公報JP 2014-192950 A
近年、電力変換装置、駆動装置およびパワーステアリング装置における電力供給について、電源および制御回路を含んだ駆動系の全部あるいは一部の冗長化による電力供給の継続性の向上が求められる。　しかし、冗長化に伴い素子の数が増大するので、素子配置の効率化が求められる。　そこで、本発明は、効率的な素子配置の実現を目的とする。 In recent years, regarding power supply in a power conversion device, a drive device, and a power steering device, it is required to improve the continuity of power supply by making all or part of a drive system including a power supply and a control circuit redundant. However, since the number of elements increases with redundancy, the efficiency of element arrangement is required. Therefore, an object of the present invention is to realize an efficient element arrangement.
本発明に係る電力変換装置の一態様は、電源からの電力を、ｎ相（ｎは３以上の整数）の巻線を有するモータに供給する電力に変換する電力変換装置であって、上記巻線の一端に接続される第１インバータと、上記第１インバータが実装された第１実装基板と、上記一端に対する他端に接続される第２インバータと、上記第２インバータが実装され、上記第１実装基板と基板面同士が対向した第２実装基板と、上記第２基板上に実装され、かつ、上記巻線に対する上記一端側と上記他端側とのうち上記一端側における中性点の形成・非形成を切替える第１中性点リレー回路と、上記第１基板上に実装され、かつ、上記巻線に対する上記一端側と上記他端側とのうち上記他端側における中性点の形成・非形成を切替える第２中性点リレー回路と、を備え、上記第１インバータと上記第１中性点リレー回路が、上記第１実装基板と上記第２実装基板との対向方向で見た場合に互いに重なり合う位置に実装され、上記第２インバータと上記第２中性点リレー回路が、上記対向方向で見た場合に互いに重なり合う位置に実装される。　 One aspect of a power conversion device according to the present invention is a power conversion device that converts power from a power source into power supplied to a motor having n-phase (n is an integer of 3 or more) windings. A first inverter connected to one end of the wire; a first mounting board on which the first inverter is mounted; a second inverter connected to the other end relative to the one end; the second inverter being mounted; A mounting board and a second mounting board opposite to each other on the board surface; mounted on the second board; and a neutral point on the one end side of the one end side and the other end side with respect to the winding. A first neutral point relay circuit for switching between formation and non-formation; and a neutral point mounted on the first substrate and having a neutral point on the other end side of the one end side and the other end side with respect to the winding. A second neutral relay circuit that switches between forming and non-forming; The first inverter and the first neutral relay circuit are mounted at positions that overlap each other when viewed in the opposing direction of the first mounting board and the second mounting board, and The second neutral point relay circuits are mounted at positions that overlap each other when viewed in the facing direction. *
本発明に係る駆動装置の一態様は、上記電力変換装置と、上記電力変換装置に接続され、上記電力変換装置によって変換された電力が供給されるモータと、を備える。　 One aspect of the drive device according to the present invention includes the power converter, and a motor connected to the power converter and supplied with power converted by the power converter. *
本発明に係るパワーステアリング装置の一態様は、上記電力変換装置と、上記電力変換装置によって変換された電力が供給されるモータと、上記モータにより駆動されるパワーステアリング機構と、を備える。 One aspect of the power steering device according to the present invention includes the power conversion device, a motor to which power converted by the power conversion device is supplied, and a power steering mechanism driven by the motor.
本発明によれば、実装基板上の配置面積が有効に活用され、あるいは、モータの巻線に対する配線経路が簡素化されるので、効率的な素子配置が実現される。 According to the present invention, the arrangement area on the mounting substrate is effectively utilized, or the wiring path for the motor winding is simplified, so that efficient element arrangement is realized.
図１は、本実施形態によるモータ駆動ユニットのブロック構成を模式的に示す図である。FIG. 1 is a diagram schematically showing a block configuration of a motor drive unit according to the present embodiment. 図２は、本実施形態によるモータ駆動ユニットの回路構成を模式的に示す図である。FIG. 2 is a diagram schematically showing a circuit configuration of the motor drive unit according to the present embodiment. 図３は、正常時におけるモータの各相の各コイルに流れる電流値を示す図であるFIG. 3 is a diagram showing current values flowing in coils of each phase of the motor in a normal state. 図４は、モータ駆動ユニットのハードウェア構成を模式的に示す図である。FIG. 4 is a diagram schematically illustrating a hardware configuration of the motor drive unit. 図５は、第１実装基板および第２実装基板のハードウェア構成を模式的に示す図である。FIG. 5 is a diagram schematically illustrating a hardware configuration of the first mounting board and the second mounting board. 図６は、角度センサ周辺のハードウェア構成を示す図である。FIG. 6 is a diagram illustrating a hardware configuration around the angle sensor. 図７は、第１のセンサマグネットによる磁場の状態を示す図である。FIG. 7 is a diagram showing the state of the magnetic field by the first sensor magnet. 図８は、第１のセンサマグネットによる磁場の状態を示す図である。FIG. 8 is a diagram illustrating a state of the magnetic field by the first sensor magnet. 図９は、センサ構成が異なる変形例を示す図である。FIG. 9 is a diagram illustrating a modification example in which the sensor configuration is different. 図１０は、マグネット構成が異なる変形例を示す図である。FIG. 10 is a diagram showing a modification example in which the magnet configuration is different. 図１１は、ヒートシンクの配置が考慮された変形例を示す図である。FIG. 11 is a diagram illustrating a modification in which the arrangement of the heat sink is considered. 図１２は、基板構成が異なる変形例による実装基板のハードウェア構成を模式的に示す図である。FIG. 12 is a diagram schematically illustrating a hardware configuration of a mounting board according to a modified example having a different board configuration. 図１３は、中性点リレー回路の構成が異なる変形例による回路構成を模式的に示す図である。FIG. 13 is a diagram schematically illustrating a circuit configuration according to a modified example in which the configuration of the neutral point relay circuit is different. 図１４は、中性点リレー回路の構成が異なる別の変形例による回路構成を模式的に示す図である。FIG. 14 is a diagram schematically illustrating a circuit configuration according to another modification example in which the configuration of the neutral point relay circuit is different. 図１５は、中性点リレー回路の構成が異なる更に別の変形例による回路構成を模式的に示す図である。FIG. 15 is a diagram schematically illustrating a circuit configuration according to still another modification example in which the configuration of the neutral point relay circuit is different. 図１６は、図７に示された変形例に対する別の変形例を示す図である。FIG. 16 is a diagram showing another modification example of the modification example shown in FIG. 図１７は、図７に示された変形例におけるモータ駆動ユニットのハードウェア構成を模式的に示す図である。FIG. 17 is a diagram schematically showing a hardware configuration of the motor drive unit in the modification shown in FIG. 図１８は、図１１に示されたハードウェア構成における第１実装基板および第２実装基板のハードウェア構成を模式的に示す図である。FIG. 18 is a diagram schematically illustrating the hardware configuration of the first mounting board and the second mounting board in the hardware configuration illustrated in FIG. 11. 図１９は、図１０とは異なる基板構成の変形例を示す図である。FIG. 19 is a diagram showing a modified example of the substrate configuration different from that of FIG. 図２０は、本実施形態によるパワーステアリング装置の構成を模式的に示す図である。FIG. 20 is a diagram schematically illustrating the configuration of the power steering apparatus according to the present embodiment.
以下、添付の図面を参照しながら、本開示の電力変換装置、駆動装置および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 power conversion device, a drive device, and a power steering device of the present disclosure will be described in detail with reference to the accompanying drawings. However, in order to avoid the following description from being unnecessarily redundant and to facilitate understanding by those skilled in the art, a more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for 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（Ｕ相、Ｖ相、Ｗ相）の巻線（「コイル」と表記する場合がある。）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も本開示の範疇である。



（モータ駆動ユニット１０００の構造）



　図１は、本実施形態によるモータ駆動ユニット１０００のブロック構成を模式的に示す図である。　モータ駆動ユニット１０００は、電力供給装置１０１、１０２、モータ２００および制御回路３０１、３０２を備える。　 In this specification, electric power from a power source is converted into electric power supplied to a three-phase motor having three-phase (U-phase, V-phase, W-phase) windings (sometimes referred to as “coils”). An embodiment of the present disclosure will be described using a power conversion device as an example. However, a power conversion device that converts power from a power source into power supplied to an n-phase motor having an n-phase winding (n is an integer of 4 or more) such as four-phase or five-phase is also included in the scope of the present disclosure. .



(Structure of motor drive unit 1000)



FIG. 1 is a diagram schematically showing a block configuration of a motor drive unit 1000 according to the present embodiment. The motor drive unit 1000 includes power supply apparatuses 101 and 102, a motor 200, and control circuits 301 and 302.
本明細書では、構成要素としてモータ２００を備えるモータ駆動ユニット１０００を説明する。モータ２００を備えるモータ駆動ユニット１０００は、本発明の駆動装置の一例に相当する。ただし、モータ駆動ユニット１０００は、構成要素としてモータ２００を備えない、モータ２００を駆動するための装置であってもよい。モータ２００を備えないモータ駆動ユニット１０００は、本発明の電力変換装置の一例に相当する。　 In this specification, a motor driving unit 1000 including a motor 200 as a component will be described. The motor drive unit 1000 including the motor 200 corresponds to an example of the drive device of the present invention. However, the motor drive unit 1000 may be an apparatus for driving the motor 200 that does not include the motor 200 as a component. The motor drive unit 1000 that does not include the motor 200 corresponds to an example of the power conversion device of the present invention. *
第１の電力供給装置１０１は、第１インバータ１１１、第２中性点リレー回路１２１電流センサ４０１および電圧センサ４１１を備える。第２の電力供給装置１０２は、第２インバータ１１２、第１中性点リレー回路１２２、電流センサ４０２および電圧センサ４１２を備える。　 The first power supply apparatus 101 includes a first inverter 111, a second neutral point relay circuit 121, a current sensor 401, and a voltage sensor 411. The second power supply apparatus 102 includes a second inverter 112, a first neutral point relay circuit 122, a current sensor 402 and a voltage sensor 412. *
モータ駆動ユニット１０００は、２つの電力供給装置１０１、１０２によって、電源（図２の符号４０３、４０４）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。例えば、第１および第２インバータ１１１、１１２は、直流電力を、Ｕ相、Ｖ相およびＷ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。　 The motor drive unit 1000 can convert the power from the power source ( reference numerals 403 and 404 in FIG. 2) into the power to be supplied to the motor 200 by the two power supply devices 101 and 102. For example, the first and second inverters 111 and 112 can convert DC power into three-phase AC power that is a pseudo sine wave of U phase, V phase, and W phase. *
第１インバータ１１１は、モータ２００のコイルの一端２１０に接続され、第２インバータ１１２は、モータ２００のコイルの他端２２０に接続される。本明細書において、部品（構成要素）同士の「接続」とは、特に断らない限り電気的な接続を意味する。　 The first inverter 111 is connected to one end 210 of the coil of the motor 200, and the second inverter 112 is connected to the other end 220 of the coil of the motor 200. In this specification, “connection” between components (components) means electrical connection unless otherwise specified. *
モータ２００は、例えば三相交流モータである。モータ２００は、Ｕ相、Ｖ相およびＷ相のコイルを有する。コイルの巻き方は、例えば、集中巻きまたは分布巻きである。　 The motor 200 is, for example, a three-phase AC motor. The motor 200 has U-phase, V-phase, and W-phase coils. The winding method of the coil is, for example, concentrated winding or distributed winding. *
制御回路３０１、３０２は、後で詳述するようにマイクロコントローラ３４１、３４２などを備える。第１の制御回路３０１は、電流センサ４０１および角度センサ３２１からの入力信号に基づいて第１の電力供給装置１０１を制御する。また、第２の制御回路３０２は、電流センサ４０２および角度センサ３２２からの入力信号に基づいて第２の電力供給装置１０２を制御する。制御回路３０１、３０２における電力供給装置１０１、１０２の制御手法として、例えばベクトル制御、直接トルク制御（ＤＴＣ）から選択された制御手法が用いられる。　図２を参照して、モータ駆動ユニット１０００の具体的な回路構成を説明する。　 The control circuits 301 and 302 include microcontrollers 341 and 342, as will be described in detail later. The first control circuit 301 controls the first power supply apparatus 101 based on input signals from the current sensor 401 and the angle sensor 321. In addition, the second control circuit 302 controls the second power supply apparatus 102 based on input signals from the current sensor 402 and the angle sensor 322. As a control method of the power supply devices 101 and 102 in the control circuits 301 and 302, for example, a control method selected from vector control and direct torque control (DTC) is used. A specific circuit configuration of the motor drive unit 1000 will be described with reference to FIG. *
図２は、本実施形態によるモータ駆動ユニット１０００の回路構成を模式的に示す図である。但し、図２では、主に電力供給装置１０１、１０２の回路構成が示される。　 FIG. 2 is a diagram schematically showing a circuit configuration of the motor drive unit 1000 according to the present embodiment. However, FIG. 2 mainly shows the circuit configuration of the power supply apparatuses 101 and 102. *
モータ駆動ユニット１０００は電源に接続される。電源は、それぞれ独立した第１電源４０３と第２電源４０４を備える。電源４０３、４０４は所定の電源電圧（例えば１２Ｖ）を生成する。電源４０３、４０４として、例えば直流電源が用いられる。ただし、電源４０３、４０４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。また、モータ駆動ユニット１０００は、内部に電源を備えていてもよい。　 The motor drive unit 1000 is connected to a power source. The power supply includes a first power supply 403 and a second power supply 404 that are independent of each other. The power supplies 403 and 404 generate a predetermined power supply voltage (for example, 12V). For example, a DC power supply is used as the power supplies 403 and 404. However, the power supplies 403 and 404 may be AC-DC converters, DC-DC converters, or batteries (storage batteries). Further, the motor drive unit 1000 may include a power source therein. *
モータ駆動ユニット１０００は、コイル１０３、１０４、コンデンサ１０５、第１インバータ１１１、第２インバータ１１２、第１中性点リレー回路１２２、第２中性点リレー回路１２１、モータ２００および制御回路３０１、３０２を備える。　 The motor drive unit 1000 includes coils 103 and 104, a capacitor 105, a first inverter 111, a second inverter 112, a first neutral point relay circuit 122, a second neutral point relay circuit 121, a motor 200, and control circuits 301 and 302. Is provided. *
モータ駆動ユニット１０００は、モータ２００のコイル（巻線）の一端２１０側に対応した第１系統と、モータ２００のコイル（巻線）の他端２２０側に対応した第２系統とを備える。第１系統には、第１インバータ１１１と第１中性点リレー回路１２２と第１制御回路３０１が含まれる。第２系統には、第２インバータ１１２と第２中性点リレー回路１２１と第２制御回路３０２が含まれる。第１系統のインバータ１１１と制御回路３０１は第１電源４０３から電力を供給される。第２系統のインバータ１１２と制御回路３０２は第２電源４０４から電力を供給される。電源と制御回路を含んだ駆動系が、電源も含めて冗長化されるので、後述するように、一方の系統における電源の異常時にも、他方の系統によって電力供給が継続される。　 The motor drive unit 1000 includes a first system corresponding to the one end 210 side of the coil (winding) of the motor 200 and a second system corresponding to the other end 220 side of the coil (winding) of the motor 200. The first system includes a first inverter 111, a first neutral relay circuit 122, and a first control circuit 301. The second system includes a second inverter 112, a second neutral relay circuit 121, and a second control circuit 302. The first system inverter 111 and the control circuit 301 are supplied with power from the first power supply 403. The second system inverter 112 and the control circuit 302 are supplied with power from the second power supply 404. Since the drive system including the power supply and the control circuit is made redundant including the power supply, as described later, even when the power supply in one system is abnormal, the power supply is continued by the other system. *
電力供給装置１０１、１０２は、上述した２つの系統に一部が跨がった構成を有する。第１の電力供給装置１０１は、第１系統のインバータ１１１と第２系統の中性点リレー回路１２１と第１系統の制御回路３０１とを備える。そして、第１系統のインバータ１１１と第２系統の中性点リレー回路１２１は、第１系統の制御回路３０１によって制御される。第２の電力供給装置１０２は、第２系統のインバータ１１２と第１系統の第１中性点リレー回路１２２と第２系統の制御回路３０２とを備える。そして、第２系統のインバータ１１２と第１系統の第１中性点リレー回路１２２は、第２系統の制御回路３０２によって制御される。　 The power supply apparatuses 101 and 102 have a configuration in which part of the above-described two systems is straddled. The first power supply apparatus 101 includes a first system inverter 111, a second system neutral point relay circuit 121, and a first system control circuit 301. The first system inverter 111 and the second system neutral point relay circuit 121 are controlled by the first system control circuit 301. The second power supply apparatus 102 includes a second system inverter 112, a first system first neutral point relay circuit 122, and a second system control circuit 302. The second system inverter 112 and the first system first neutral relay circuit 122 are controlled by the second system control circuit 302. *
電源４０３、４０４とインバータ１１１、１１２との間にはコイル１０３、１０４が備えられる。コイル１０３、１０４は、ノイズフィルタとして機能し、各インバータ１１１、１１２に供給される電圧波形に含まれる高周波ノイズを平滑化する。また、コイル１０３、１０４は、インバータ１１１、１１２で発生する高周波ノイズが電源４０３、４０４側に流出することを防ぐため高周波ノイズを平滑化する。また、各インバータ１１１、１１２の電源端子には、コンデンサ１０５が接続される。コンデンサ１０５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１０５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。　 Coils 103 and 104 are provided between the power supplies 403 and 404 and the inverters 111 and 112. The coils 103 and 104 function as a noise filter and smooth high frequency noise included in the voltage waveform supplied to each of the inverters 111 and 112. In addition, the coils 103 and 104 smooth the high frequency noise to prevent the high frequency noise generated by the inverters 111 and 112 from flowing out to the power sources 403 and 404. A capacitor 105 is connected to the power supply terminals of the inverters 111 and 112. The capacitor 105 is a so-called bypass capacitor and suppresses voltage ripple. The capacitor 105 is, for example, an electrolytic capacitor, and the capacity and the number to be used are appropriately determined according to the design specifications. *
第１インバータ１１１は、３個のレグを有するブリッジ回路を備える。各レグは、電源とモータ２００との間に接続されたハイサイドスイッチ素子およびモータ２００とグランドとの間に接続されたローサイドスイッチ素子を備える。具体的には、Ｕ相用レグは、ハイサイドスイッチ素子１１３Ｈおよびローサイドスイッチ素子１１３Ｌを備える。Ｖ相用レグは、ハイサイドスイッチ素子１１４Ｈおよびローサイドスイッチ素子１１４Ｌを備える。Ｗ相用レグは、ハイサイドスイッチ素子１１５Ｈおよびローサイドスイッチ素子１１５Ｌを備える。スイッチ素子としては、例えば電界効果トランジスタ（ＭＯＳＦＥＴなど）または絶縁ゲートバイポーラトランジスタ（ＩＧＢＴ）が用いられる。なお、スイッチ素子がＩＧＢＴである場合には、スイッチ素子と逆並列にダイオード（フリーホイール）が接続される。　 The first inverter 111 includes a bridge circuit having three legs. Each leg includes a high-side switch element connected between the power source and the motor 200 and a low-side switch element connected between the motor 200 and the ground. Specifically, the U-phase leg includes a high-side switch element 113H and a low-side switch element 113L. The V-phase leg includes a high-side switch element 114H and a low-side switch element 114L. The W-phase leg includes a high-side switch element 115H and a low-side switch element 115L. As the switch element, for example, a field effect transistor (MOSFET or the like) or an insulated gate bipolar transistor (IGBT) is used. When the switch element is an IGBT, a diode (freewheel) is connected in antiparallel with the switch element. *
第１インバータ１１１は、例えば、Ｕ相、Ｖ相およびＷ相の各相の巻線に流れる電流を検出するための電流センサ４０１（図１を参照）として、シャント抵抗１１３Ｒ、１１４Ｒおよび１１５Ｒをそれぞれ各レグに備える。電流センサ４０１は、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。例えば、シャント抵抗は、各レグにおいて、ローサイドスイッチ素子とグランドとの間に接続され得る。シャント抵抗の抵抗値は、例えば０．５ｍΩ～１．０ｍΩ程度である。　 The first inverter 111 includes, for example, shunt resistors 113R, 114R, and 115R as current sensors 401 (see FIG. 1) for detecting currents flowing through the windings of the U-phase, V-phase, and W-phase, respectively. Prepare for each leg. The current sensor 401 includes a current detection circuit (not shown) that detects a current flowing through each shunt resistor. For example, a shunt resistor can be connected between the low side switch element and ground at each leg. The resistance value of the shunt resistor is, for example, about 0.5 mΩ to 1.0 mΩ. *
シャント抵抗の数は３つ以外でもよい。例えば、Ｕ相、Ｖ相用の２つのシャント抵抗１１３Ｒ、１１４Ｒ、Ｖ相、Ｗ相用の２つのシャント抵抗１１４Ｒ、１１５Ｒ、または、Ｕ相、Ｗ相用の２つのシャント抵抗１１３Ｒ、１１５Ｒが用いられてもよい。使用されるシャント抵抗の数およびシャント抵抗の配置は、製品コストおよび設計仕様などが考慮されて適宜決定される。　 The number of shunt resistors may be other than three. For example, two shunt resistors 113R and 114R for U phase and V phase, two shunt resistors 114R and 115R for V phase and W phase, or two shunt resistors 113R and 115R for U phase and W phase are used. May be. The number of shunt resistors to be used and the arrangement of the shunt resistors are appropriately determined in consideration of the product cost and design specifications. *
第２インバータ１１２は、３個のレグを有するブリッジ回路を備える。Ｕ相用レグは、ハイサイドスイッチ素子１１６Ｈおよびローサイドスイッチ素子１１６Ｌを備える。Ｖ相用レグは、ハイサイドスイッチ素子１１７Ｈおよびローサイドスイッチ素子１１７Ｌを備える。Ｗ相用レグは、ハイサイドスイッチ素子１１８Ｈおよびローサイドスイッチ素子１１８Ｌを備える。第１インバータ１１１と同様に、第２インバータ１１２は、例えば、シャント抵抗１１６Ｒ、１１７Ｒおよび１１８Ｒを備える。　 The second inverter 112 includes a bridge circuit having three legs. The U-phase leg includes a high-side switch element 116H and a low-side switch element 116L. The V-phase leg includes a high-side switch element 117H and a low-side switch element 117L. The W-phase leg includes a high-side switch element 118H and a low-side switch element 118L. Similar to the first inverter 111, the second inverter 112 includes, for example, shunt resistors 116R, 117R, and 118R. *
第１インバータ１１１は、モータ２００のコイル(巻線)の一端２１０に接続される。具体的に説明すると、第１インバータ１１１のＵ相用レグ（つまり、ハイサイドスイッチ素子およびローサイドスイッチ素子の間のノード）は、モータ２００のＵ相コイルの一端２１０に接続される。第１インバータ１１１のＶ相用レグは、Ｖ相コイルの一端２１０に接続される。第１インバータ１１１のＷ相用レグは、Ｗ相コイルの一端２１０に接続される。　 The first inverter 111 is connected to one end 210 of a coil (winding) of the motor 200. More specifically, the U-phase leg of the first inverter 111 (that is, the node between the high-side switch element and the low-side switch element) is connected to one end 210 of the U-phase coil of the motor 200. The V-phase leg of the first inverter 111 is connected to one end 210 of the V-phase coil. The W-phase leg of the first inverter 111 is connected to one end 210 of the W-phase coil. *
第２インバータ１１２は、モータ２００のコイル(巻線)の他端２２０に接続される。具体的に説明すると、第２インバータ１１２のＵ相用レグは、モータ２００のＵ相コイルの他端２２０に接続される。第２インバータ１１２のＶ相用レグは、Ｖ相コイルの他端２２０に接続される。第２インバータ１１２のＷ相用レグは、Ｗ相コイルの他端２２０に接続される。　 The second inverter 112 is connected to the other end 220 of the coil (winding) of the motor 200. More specifically, the U-phase leg of the second inverter 112 is connected to the other end 220 of the U-phase coil of the motor 200. The V-phase leg of the second inverter 112 is connected to the other end 220 of the V-phase coil. The W-phase leg of the second inverter 112 is connected to the other end 220 of the W-phase coil. *
第１中性点リレー回路１２２は、コイルに対する一端２１０側(第１系統側)と他端２２０側(第２系統側)とのうち一端２１０側における中性点の形成・非形成を切替えることが可能である。具体的には、第１中性点リレー回路１２２は、第１インバータ１１１と並列に、モータ２００のコイルの一端２１０に接続される。第１中性点リレー回路１２２は、モータ２００のコイルの一端２１０同士の接続・非接続を切替えることが可能である。　 The first neutral point relay circuit 122 switches the formation / non-formation of the neutral point on the one end 210 side of the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. Is possible. Specifically, the first neutral point relay circuit 122 is connected to one end 210 of the coil of the motor 200 in parallel with the first inverter 111. The first neutral point relay circuit 122 can switch connection / disconnection between the one ends 210 of the coils of the motor 200. *
第１中性点リレー回路１２２は、一端がノードＮ１に共通に接続され、かつ、他端がモータ２００の各相のコイルに接続される３個の第１中性点リレー１２３、１２４および１２５を有する。具体的に説明すると、第１中性点リレー１２３は、ノードＮ１とＵ相コイルの一端２１０とに接続される。第１中性点リレー１２４は、ノードＮ１とＶ相コイルの一端２１０とに接続される。第１中性点リレー１２５は、ノードＮ１とＷ相コイルの一端２１０とに接続される。　 The first neutral point relay circuit 122 has three first neutral point relays 123, 124, and 125 each having one end connected in common to the node N1 and the other end connected to a coil of each phase of the motor 200. Have More specifically, first neutral relay 123 is connected to node N1 and one end 210 of the U-phase coil. First neutral point relay 124 is connected to node N1 and one end 210 of the V-phase coil. First neutral point relay 125 is connected to node N1 and one end 210 of the W-phase coil. *
第２中性点リレー回路１２１は、コイルに対する一端２１０側(第１系統側)と他端２２０側(第２系統側)とのうち他端２２０側における中性点の形成・非形成を切替えることが可能である。具体的には、第２中性点リレー回路１２１は、第２インバータ１１２と並列に、モータ２００のコイルの他端２２０に接続される。第２中性点リレー回路１２１は、モータ２００のコイルの他端２２０同士の接続・非接続を切替えることが可能である。　 The second neutral point relay circuit 121 switches the formation / non-formation of the neutral point on the other end 220 side among the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. It is possible. Specifically, the second neutral relay circuit 121 is connected to the other end 220 of the coil of the motor 200 in parallel with the second inverter 112. The second neutral point relay circuit 121 can switch connection / disconnection between the other ends 220 of the coils of the motor 200. *
第２中性点リレー回路１２１は、一端がノードＮ２に共通に接続され、かつ、他端がモータ２００の各相のコイルに接続される３個の第２中性点リレー１２６、１２７および１２８を有する。具体的に説明すると、第２中性点リレー１２６は、ノードＮ２とＵ相コイルの他端２２０とに接続される。第２中性点リレー１２７は、ノードＮ２とＶ相コイルの他端２２０とに接続される。第２中性点リレー１２８は、ノードＮ２とＷ相コイルの他端２２０とに接続される。　上述した中性点リレーとしては、例えば、ＭＯＳＦＥＴなどの半導体スイッチ素子またはメカニカルリレーが用いられる。　 The second neutral point relay circuit 121 has three second neutral point relays 126, 127, and 128, one end of which is commonly connected to the node N 2 and the other end is connected to a coil of each phase of the motor 200. Have Specifically, second neutral point relay 126 is connected to node N2 and the other end 220 of the U-phase coil. Second neutral point relay 127 is connected to node N2 and other end 220 of the V-phase coil. Second neutral point relay 128 is connected to node N2 and other end 220 of the W-phase coil. As the neutral point relay described above, for example, a semiconductor switch element such as a MOSFET or a mechanical relay is used. *
再び図１を参照する。制御回路３０１、３０２は、例えば、電源回路３１１、３１２と、角度センサ３２１、３２２と、入力回路３３１、３３２と、マイクロコントローラ３４１、３４２と、駆動回路３５１、３５２と、ＲＯＭ３６１、３６２とを備える。制御回路３０１、３０２は電力供給装置１０１、１０２に接続される。そして、制御回路３０１、３０２は電力供給装置１０１、１０２を制御する。具体的には、上述したように、第１の制御回路３０１は、第１インバータ１１１および第２中性点リレー回路１２２を制御する。第２の制御回路３０２は、第２インバータ１１２および第１中性点リレー回路１２１を制御する。　 Refer to FIG. 1 again. The control circuits 301 and 302 include, for example, power supply circuits 311 and 312, angle sensors 321 and 322, input circuits 331 and 332, microcontrollers 341 and 342, drive circuits 351 and 352, and ROMs 361 and 362. . The control circuits 301 and 302 are connected to the power supply apparatuses 101 and 102. The control circuits 301 and 302 control the power supply apparatuses 101 and 102. Specifically, as described above, the first control circuit 301 controls the first inverter 111 and the second neutral point relay circuit 122. The second control circuit 302 controls the second inverter 112 and the first neutral point relay circuit 121. *
制御回路３０１、３０２は、目的とするロータの位置（回転角）、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。回転速度は、例えば、回転角（ｒａｄ）を時間微分することにより得られ、単位時間（例えば１分間）にロータが回転する回転数（ｒｐｍ）で表される。制御回路３０１、３０２は、目的とするモータトルクを制御することも可能である。制御回路３０１、３０２は、トルク制御のためにトルクセンサを備えてもよいがトルクセンサが省かれていてもトルク制御は可能である。また、角度センサに変えてセンサレスアルゴリズムを備えてもよい。また、２つの制御回路３０１、３０２は、各々がモータの回転に同期して制御を行うことで相互の制御動作を同期させる。電源回路３１１、３１２は、制御回路３０１、３０２内の各ブロックに必要なＤＣ電圧（例えば３Ｖ、５Ｖ）を生成する。


The control circuits 301 and 302 can realize closed-loop control by controlling the target rotor position (rotation angle), rotation speed, current, and the like. The rotation speed is obtained, for example, by differentiating the rotation angle (rad) with time, and is represented by the number of rotations (rpm) at which the rotor rotates per unit time (for example, 1 minute). The control circuits 301 and 302 can also control the target motor torque. The control circuits 301 and 302 may include a torque sensor for torque control, but torque control is possible even if the torque sensor is omitted. Further, a sensorless algorithm may be provided instead of the angle sensor. The two control circuits 301 and 302 synchronize their control operations by performing control in synchronization with the rotation of the motor. The power supply circuits 311 and 312 generate a DC voltage (for example, 3V, 5V) necessary for each block in the control circuits 301 and 302.


角度センサ３２１、３２２は、例えばホールＩＣである。角度センサ３２１、３２２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３２１、３２２は、モータ２００のロータの回転角を検出し、検出した回転角を表した回転信号をマイクロコントローラ３４１、３４２に出力する。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３２１、３２２は必要とされない場合がある。　 The angle sensors 321 and 322 are, for example, Hall ICs. The angle sensors 321 and 322 are also realized by a combination of an MR sensor having a magnetoresistive (MR) element and a sensor magnet. The angle sensors 321 and 322 detect the rotation angle of the rotor of the motor 200, and output a rotation signal representing the detected rotation angle to the microcontrollers 341 and 342. Depending on the motor control method (for example, sensorless control), the angle sensors 321 and 322 may not be required. *
電圧センサ４１１、４１２は、中性点リレー回路１２１、１２２の、モータ２００のコイルに接続された一端における電圧を検出し、検出した電圧値を入力回路３３１、３３２に出力する。　 The voltage sensors 411 and 412 detect the voltage at one end of the neutral point relay circuits 121 and 122 connected to the coil of the motor 200 and output the detected voltage values to the input circuits 331 and 332. *
入力回路３３１、３３２は、電流センサ４０１、４０２によって検出されたモータ電流値（以下、「実電流値」と表記する。）と電圧センサ４１１、４１２によって検出された電圧値を受け取る。入力回路３３１、３３２は、マイクロコントローラ３４１、３４２の入力レベルに実電流値および電圧値のレベルを必要に応じて変換し、実電流値および電圧値をマイクロコントローラ３４１、３４２に出力する。入力回路３３１、３３２は、アナログデジタル変換回路である。　 The input circuits 331 and 332 receive motor current values detected by the current sensors 401 and 402 (hereinafter referred to as “actual current values”) and voltage values detected by the voltage sensors 411 and 412. The input circuits 331 and 332 convert the actual current value and voltage value level to the input levels of the microcontrollers 341 and 342 as necessary, and output the actual current value and voltage value to the microcontrollers 341 and 342, respectively. The input circuits 331 and 332 are analog-digital conversion circuits. *
マイクロコントローラ３４１、３４２は、角度センサ３２１、３２２によって検出されたロータの回転信号を受信するとともに、入力回路３３１、３３２から出力された実電流値および電圧値を受信する。マイクロコントローラ３４１、３４２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、生成したＰＷＭ信号を駆動回路３５１、３５２に出力する。例えば、マイクロコントローラ３４１、３４２は、電力供給装置１０１、１０２のインバータ１１１、１１２における各スイッチ素子のスイッチング動作（ターンオンまたはターンオフ）を制御するためのＰＷＭ信号を生成する。　 The microcontrollers 341 and 342 receive the rotor rotation signals detected by the angle sensors 321 and 322 and also receive the actual current value and voltage value output from the input circuits 331 and 332. The microcontrollers 341 and 342 generate a PWM signal by setting a target current value according to the actual current value and the rotation signal of the rotor, and output the generated PWM signal to the drive circuits 351 and 352. For example, the microcontrollers 341 and 342 generate PWM signals for controlling the switching operation (turn-on or turn-off) of each switch element in the inverters 111 and 112 of the power supply apparatuses 101 and 102. *
また、マイクロコントローラ３４１、３４２は、中性点リレー回路１２１、１２２のオン・オフの状態を決定する信号を、受信した電圧値に従って生成することが可能である。　 Further, the microcontrollers 341 and 342 can generate a signal for determining the on / off state of the neutral point relay circuits 121 and 122 according to the received voltage value. *
駆動回路３５１、３５２は、例えばゲートドライバである。駆動回路３５１、３５２は、第１および第２インバータ１１１、１１２における各スイッチ素子のスイッチング動作を制御する制御信号（例えば、ゲート制御信号）をＰＷＭ信号に従って生成し、生成した制御信号を各スイッチ素子に与える。さらに、駆動回路３５１、３５２は、マイクロコントローラ３４１、３４２からの、各中性点リレー回路１２１、１２２のオン・オフの状態を決定する信号に従って、各中性点リレー回路１２１、１２２における各中性点リレーをオン・オフする制御信号を生成し、生成した制御信号を各中性点リレーに与えることが可能である。　マイクロコントローラ３４１、３４２は、駆動回路３５１、３５２の機能を有していてもよい。その場合、駆動回路３５１、３５２は省かれる。　 The drive circuits 351 and 352 are, for example, gate drivers. The drive circuits 351 and 352 generate a control signal (for example, a gate control signal) for controlling the switching operation of each switch element in the first and second inverters 111 and 112 according to the PWM signal, and generate the generated control signal for each switch element. To give. Furthermore, the drive circuits 351 and 352 are connected to the neutral point relay circuits 121 and 122 according to signals from the microcontrollers 341 and 342 that determine the on / off states of the neutral point relay circuits 121 and 122, respectively. It is possible to generate a control signal for turning on / off the sex point relay and to supply the generated control signal to each neutral point relay. The microcontrollers 341 and 342 may have the functions of the drive circuits 351 and 352. In that case, the drive circuits 351 and 352 are omitted. *
ＲＯＭ３６１、３６２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。ＲＯＭ３６１、３６２は、マイクロコントローラ３４１、３４２に電力供給装置１０１、１０２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する。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。　 The ROMs 361 and 362 are, for example, a writable memory (for example, PROM), a rewritable memory (for example, a flash memory), or a read-only memory. The ROMs 361 and 362 store a control program including a command group for causing the microcontrollers 341 and 342 to control the power supply apparatuses 101 and 102. For example, the control program is temporarily expanded in a RAM (not shown) at the time of booting. *
電力供給装置１０１、１０２の制御には正常時および異常時の制御がある。制御回路３０１、３０２（主としてマイクロコントローラ３４１、３４２）は、電力供給装置１０１、１０２の制御を正常時の制御から異常時の制御に切替えることができる。制御の種類に応じて、第１中性点リレー回路１２２および第２中性点リレー回路１２１のオン・オフ状態が決定される。　以下、モータ駆動ユニット１０００の動作の具体例を説明し、主として電力供給装置１００の動作の具体例を説明する。



（正常時の制御）


Control of the power supply apparatuses 101 and 102 includes normal and abnormal control. The control circuits 301 and 302 (mainly the microcontrollers 341 and 342) can switch the control of the power supply apparatuses 101 and 102 from normal control to abnormal control. The on / off states of the first neutral point relay circuit 122 and the second neutral point relay circuit 121 are determined according to the type of control. Hereinafter, a specific example of the operation of the motor drive unit 1000 will be described, and a specific example of the operation of the power supply apparatus 100 will be mainly described.



(Control during normal operation)


先ず、電力供給装置１０１、１０２の正常時の制御方法の具体例を説明する。正常とは、２つの電源４０３、４０４と、２つのインバータ１１１、１１２と、２つの制御回路３０１、３０２のいずれもが正しく動作する状態を指す。　 First, a specific example of a control method when the power supply apparatuses 101 and 102 are normal will be described. Normal indicates a state in which both of the two power supplies 403 and 404, the two inverters 111 and 112, and the two control circuits 301 and 302 operate correctly. *
正常時において、制御回路３０１、３０２は、第１中性点リレー回路１２２をオフし、かつ、第２中性点リレー回路１２１をオフする。これにより、モータ２００の各相のコイルは互いに非接続となり、各相のコイルは各々独立に２つのインバータ１１１、１１２の各レグに接続される。　 Under normal conditions, the control circuits 301 and 302 turn off the first neutral point relay circuit 122 and turn off the second neutral point relay circuit 121. Thus, the coils of each phase of the motor 200 are disconnected from each other, and the coils of each phase are independently connected to the legs of the two inverters 111 and 112, respectively. *
第１中性点リレー回路１２２がオフすると、モータ２００の各相のコイルの一端２１０同士は絶縁される。「第１中性点リレー回路１２２がオフする」とは、第１中性点リレー１２３、１２４および１２５が全てオフすることを意味する。　 When the first neutral point relay circuit 122 is turned off, the one ends 210 of the coils of the respective phases of the motor 200 are insulated from each other. “The first neutral relay circuit 122 is turned off” means that the first neutral relays 123, 124, and 125 are all turned off. *
第２中性点リレー回路１２１がオフすると、モータ２００の各相のコイルの他端２２０同士は絶縁される。「第２中性点リレー回路１２１がオフする」とは、第２中性点リレー１２６、１２７および１２８が全てオフすることを意味する。　 When the second neutral relay circuit 121 is turned off, the other ends 220 of the coils of the respective phases of the motor 200 are insulated from each other. “The second neutral point relay circuit 121 is turned off” means that the second neutral point relays 126, 127, and 128 are all turned off. *
この接続状態において、制御回路３０１、３０２は、第１インバータ１１１および第２インバータ１１２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。一例として、制御回路３０１、３０２は、第１インバータ１１１のスイッチ素子と第２インバータ１１２のスイッチ素子とを、周期変動するデューティ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とができる。第１インバータ１１１と第２インバータ１１２とのそれぞれにおけるデューティの周期変動は制御回路３０１、３０２によって切り替え可能である。制御回路３０１、３０２は、例えば第１インバータ１１１と第２インバータ１１２とで逆位相（位相差＝１８０°）となる周期変動に切り替えてもよい。　図３は、正常時におけるモータ２００の各相の各コイルに流れる電流値を示す図である。　 In this connected state, the control circuits 301 and 302 drive the motor 200 by performing three-phase energization control using both the first inverter 111 and the second inverter 112. As an example, the control circuits 301 and 302 can perform three-phase energization control by switching control of the switch element of the first inverter 111 and the switch element of the second inverter 112 with a duty that varies periodically. The duty cycle variation in each of the first inverter 111 and the second inverter 112 can be switched by the control circuits 301 and 302. For example, the control circuits 301 and 302 may be switched to a period variation in which the first inverter 111 and the second inverter 112 have opposite phases (phase difference = 180 °). FIG. 3 is a diagram showing current values flowing in the coils of the respective phases of the motor 200 in a normal state. *
図３には、正常時の三相通電制御に従って電力供給装置１０１、１０２が制御されたときにモータ２００のＵ相、Ｖ相およびＷ相の各コイル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）が例示される。図３の横軸は、モータ電気角（ｄｅｇ）を示し、縦軸は電流値（Ａ）を示す。Ｉｐｋは各相の最大電流値（ピーク電流値）を表す。なお、電力供給装置１０１、１０２は、図３に例示した正弦波以外に、例えば矩形波を用いてモータ２００を駆動することも可能である。　 FIG. 3 shows currents obtained by plotting current values flowing in the U-phase, V-phase, and W-phase coils of the motor 200 when the power supply devices 101 and 102 are controlled according to the normal three-phase energization control. A waveform (sine wave) is illustrated. The horizontal axis in FIG. 3 represents the motor electrical angle (deg), and the vertical axis represents the current value (A). Ipk represents the maximum current value (peak current value) of each phase. Note that the power supply devices 101 and 102 can drive the motor 200 using, for example, a rectangular wave in addition to the sine wave illustrated in FIG.
表１は、図３の正弦波において電気角毎に各インバータの端子に流れる電流値を示す。表１は、具体的に、第１インバータ１１１とＵ相、Ｖ相およびＷ相それぞれのコイルの一端２１０との接続点に流れる電気角３０°毎の電流値を示す。また、表１は、第２インバータ１１２とＵ相、Ｖ相およびＷ相それぞれのコイルの他端２２０との接続点に流れる、電気角３０°毎の電流値を示す。ここで、第１インバータ１１１に対しては、モータ２００の一端２１０から他端２２０に流れる電流方向を正の方向と定義する。また、第２インバータ１１２に対しては、モータ２００の他端２２０から一端２１０に流れる電流方向を正の方向と定義する。従って、第１インバータ１１１の電流と第２インバータ１１２の電流との位相差は１８０°となる。表１において、電流値Ｉ１の大きさは〔（３）１／２／２〕＊Ｉｐｋであり、電流値Ｉ２の大きさはＩｐｋ／２である。　 Table 1 shows the value of current flowing through the terminals of each inverter for each electrical angle in the sine wave of FIG. Table 1 specifically shows a current value at every electrical angle of 30 ° flowing at a connection point between the first inverter 111 and one end 210 of each of the U-phase, V-phase, and W-phase coils. Table 1 shows current values for each electrical angle of 30 ° flowing through the connection points between the second inverter 112 and the other ends 220 of the U-phase, V-phase, and W-phase coils. Here, for the first inverter 111, the direction of current flowing from one end 210 to the other end 220 of the motor 200 is defined as a positive direction. For the second inverter 112, the direction of current flowing from the other end 220 of the motor 200 to the one end 210 is defined as a positive direction. Therefore, the phase difference between the current of the first inverter 111 and the current of the second inverter 112 is 180 °. In Table 1, the magnitude of the current value I 1 is [(3) 1/2 / 2] * I pk , and the magnitude of the current value I 2 is I pk / 2.
Figure JPOXMLDOC01-appb-T000001
Figure JPOXMLDOC01-appb-T000001
電気角０°において、Ｕ相のコイルは電流が「０」となる。電気角０°において、Ｖ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ１の電流が流れ、Ｗ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ１の電流が流れる。　 At an electrical angle of 0 °, the current of the U-phase coil is “0”. At an electrical angle of 0 °, a current of magnitude I 1 flows from the second inverter 112 to the first inverter 111 through the V-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the W-phase coil. 1 current flows.
電気角３０°において、Ｕ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れ、Ｖ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩｐｋの電流が流れ、Ｗ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れる。　 In the electrical angle 30 °, the coils of the U-phase current of magnitude I 2 flows through the second inverter 112 from the first inverter 111, the coil of the V phase magnitude I from the second inverter 112 to the first inverter 111 pk of current flows, the coil of the W-phase current having a magnitude I 2 flows from the first inverter 111 to the second inverter 112.
電気角６０°において、Ｕ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ１の電流が流れ、Ｖ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ１の電流が流れる。電気角６０°において、Ｗ相のコイルは電流が「０」となる。　 At an electrical angle of 60 °, a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil. 1 current flows. At an electrical angle of 60 °, the current of the W-phase coil is “0”.
電気角９０°において、Ｕ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩｐｋの電流が流れ、Ｖ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ２の電流が流れ、Ｗ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ２の電流が流れる。　 At an electrical angle of 90 °, a current of magnitude I pk flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil. second current flows to the coil of the W-phase current having a magnitude I 2 flows from the second inverter 112 to the first inverter 111.
電気角１２０°において、Ｕ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ１の電流が流れ、Ｗ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ１の電流が流れる。電気角１２０°において、Ｖ相のコイルは電流が「０」となる。　 At an electrical angle of 120 °, a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the W-phase coil. 1 current flows. At an electrical angle of 120 °, the current of the V-phase coil is “0”.
電気角１５０°において、Ｕ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れ、Ｖ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れ、Ｗ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩｐｋの電流が流れる。　 At an electrical angle of 150 °, a current of magnitude I 2 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil. 2 current flows, and a current of magnitude I pk flows from the second inverter 112 to the first inverter 111 in the W-phase coil.
電気角１８０°において、Ｕ相のコイルは電流が「０」となる。電気角１８０°において、Ｖ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ１の電流が流れ、Ｗ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ１の電流が流れる。　 At an electrical angle of 180 °, the current of the U-phase coil is “0”. At an electrical angle of 180 °, a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the V-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the W-phase coil. 1 current flows.
電気角２１０°において、Ｕ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ２の電流が流れ、Ｖ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩｐｋの電流が流れ、Ｗ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ２の電流が流れる。　 At an electrical angle of 210 °, a current of magnitude I 2 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil. pk of current flows, the coil of the W-phase current having a magnitude I 2 flows from the second inverter 112 to the first inverter 111.
電気角２４０°において、Ｕ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ１の電流が流れ、Ｖ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ１の電流が流れる。電気角２４０°において、Ｗ相のコイルは電流が「０」となる。　 At an electrical angle of 240 °, a current of magnitude I 1 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil. 1 current flows. At an electrical angle of 240 °, the current of the W-phase coil is “0”.
電気角２７０°において、Ｕ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩｐｋの電流が流れ、Ｖ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れ、Ｗ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れる。　 At an electrical angle of 270 °, a current of magnitude I pk flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the V-phase coil. 2 flows, and a current of magnitude I 2 flows from the first inverter 111 to the second inverter 112 in the W-phase coil.
電気角３００°において、Ｕ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ１の電流が流れ、Ｗ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ１の電流が流れる。電気角３００°において、Ｖ相のコイルは電流が「０」となる。　 At an electrical angle of 300 °, a current of magnitude I 1 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the first inverter 111 to the second inverter 112 flows through the W-phase coil. 1 current flows. At an electrical angle of 300 °, the current of the V-phase coil is “0”.
電気角３３０°において、Ｕ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ２の電流が流れ、Ｖ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ２の電流が流れ、Ｗ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩｐｋの電流が流れる。　 At an electrical angle of 330 °, a current of magnitude I 2 flows from the second inverter 112 to the first inverter 111 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil. 2 current flows, and a current of magnitude I pk flows from the first inverter 111 to the second inverter 112 in the W-phase coil.
図３に示される電流波形において、電流の向きを考慮した三相のコイルに流れる電流の総和は電気角毎に「０」となる。ただし、電力供給装置１０１、１０２の回路構成によれば、三相のコイルに流れる電流は独立に制御される。このため、制御回路３０１、３０２は電流の総和が「０」以外の値となる制御を行うことも可能である。



（異常時の制御）　 In the current waveform shown in FIG. 3, the sum of the currents flowing through the three-phase coils in consideration of the current direction is “0” for each electrical angle. However, according to the circuit configuration of the power supply devices 101 and 102, the current flowing through the three-phase coil is controlled independently. Therefore, the control circuits 301 and 302 can also perform control such that the sum of currents is a value other than “0”.



(Control in case of abnormality)
電力供給装置１００の異常時の制御方法の具体例を説明する。異常とは、２つの電源４０３、４０４と、２つのインバータ１１１、１１２と、２つの制御回路３０１、３０２の１つ以上に故障が生じた状態を指す。異常には、大きく分けて第１系統の異常と第２系統の異常とがある。また、各系統の異常としては、インバータ１１１、１１２の故障による異常と駆動系の異常がある。本明細書で「駆動系の異常」は、電源のみの異常、制御回路のみの異常、電源と制御回路との両方の異常、電源異常に伴い制御部も動作停止した状態などといった各種の異常状態を含む。また、インバータ１１１、１１２の故障は、インバータ回路内における断線、ショート、スイッチ素子の故障などを含む。　 A specific example of a control method when the power supply apparatus 100 is abnormal will be described. Abnormality refers to a state in which one or more of the two power supplies 403 and 404, the two inverters 111 and 112, and the two control circuits 301 and 302 have failed. The abnormality is roughly classified into an abnormality of the first system and an abnormality of the second system. Further, the abnormality of each system includes an abnormality due to a failure of the inverters 111 and 112 and an abnormality of the drive system. In this specification, “drive system abnormality” refers to various abnormal conditions such as an abnormality in the power supply only, an abnormality in the control circuit only, an abnormality in both the power supply and the control circuit, and a state where the control unit is stopped due to the power supply abnormality. including. Further, the failure of the inverters 111 and 112 includes disconnection, short circuit, switch element failure, and the like in the inverter circuit. *
異常検知の一例として、制御回路３０１、３０２（主としてマイクロコントローラ３４１、３４２）は、電圧センサ４１１、４１２によって検出された電圧値を解析することで、２つの系統のうち自己が所属する系統に対する相手側の系統における異常を検知する。制御回路３０１、３０２は、自分の制御下にある電圧センサ４１１、４１２および中性点リレー回路１２１、１２２を介して相手側のインバータ１１１、１１２における電圧を確認することができる。具体的には、中性点リレー回路１２１、１２２はモータのコイルの一端２１０および他端２２０を介してインバータ１１１、１１２に接続され、電圧センサ４１１、４１２は一端２１０および他端２２０の電圧を検出する。　 As an example of abnormality detection, the control circuits 301 and 302 (mainly the microcontrollers 341 and 342) analyze the voltage values detected by the voltage sensors 411 and 412 so that the counterpart to the system to which the self belongs. Detect abnormalities in the side system. The control circuits 301 and 302 can check the voltages at the counterpart inverters 111 and 112 via the voltage sensors 411 and 412 and the neutral point relay circuits 121 and 122 under their control. Specifically, the neutral point relay circuits 121 and 122 are connected to the inverters 111 and 112 via the one end 210 and the other end 220 of the motor coil, and the voltage sensors 411 and 412 To detect. *
異常検知の他の一例として、マイクロコントローラ３４１、３４２は、モータの実電流値と目標電流値との差などを解析することで異常を検知することも可能である。ただし、制御回路３０１、３０２は、これらの手法に限られず、異常検知に関する公知の手法を広く用いることができる。　 As another example of abnormality detection, the microcontrollers 341 and 342 can also detect an abnormality by analyzing a difference between the actual current value of the motor and the target current value. However, the control circuits 301 and 302 are not limited to these methods, and widely known methods relating to abnormality detection can be used. *
制御回路３０１、３０２は、マイクロコントローラ３４１、３４２で異常を検知すると、電力供給装置１０１、１０２の制御を正常時の制御から異常時の制御に切替える。例えば、正常時から異常時に制御を切替えるタイミングは、異常が検知されてから１０ｍｓｅｃ～３０ｍｓｅｃ程度である。　 When the microcontrollers 341 and 342 detect an abnormality, the control circuits 301 and 302 switch the control of the power supply apparatuses 101 and 102 from normal control to abnormal control. For example, the timing for switching control from normal to abnormal is about 10 msec to 30 msec after the abnormality is detected. *
制御回路３０１、３０２は、異常時には、相手側の系統の中性点リレー回路１２１、１２２をオンする。例えば第１の制御回路３０１が異常を検知した場合には、第１の制御回路３０１は第２中性点リレー回路１２１をオンする。　 The control circuits 301 and 302 turn on the neutral point relay circuits 121 and 122 of the counterpart system when an abnormality occurs. For example, when the first control circuit 301 detects an abnormality, the first control circuit 301 turns on the second neutral point relay circuit 121. *
第２中性点リレー回路１２１がオンすると、モータ２００の三相のコイルの他端２２０同士が接続される。その結果、モータ２００のコイルはＹ結線される。そして、第２中性点リレー回路１２１の中のノードＮ２が中性点として機能することになる。「第２中性点リレー回路１２１がオンする」とは、第２中性点リレー回路１２１内の第２中性点リレー１２６、１２７および１２８が全てオンすることを意味する。この接続状態で、第１の制御回路３０１は、第１インバータ１１１を三相通電制御することでモータ２００のコイルを通電することができる。　 When the second neutral relay circuit 121 is turned on, the other ends 220 of the three-phase coils of the motor 200 are connected to each other. As a result, the coil of the motor 200 is Y-connected. Then, the node N2 in the second neutral point relay circuit 121 functions as a neutral point. “The second neutral point relay circuit 121 is turned on” means that the second neutral point relays 126, 127, and 128 in the second neutral point relay circuit 121 are all turned on. In this connected state, the first control circuit 301 can energize the coil of the motor 200 by performing three-phase energization control of the first inverter 111. *
第１の制御回路３０１が異常を検知した場合には、第２系統で異常が生じる。そして、第２系統の異常が駆動系の異常である場合、第２の制御回路３０２は、第２インバータ１１２に対する制御を失った状態(第２の制御回路３０２が失陥した状態)になる。このような場合でも、第１の制御回路３０１が第２中性点リレー回路１２１を制御するので第２系統側で中性点が形成される。そして、第１系統側のインバータ１１１でモータ２００に対する電力供給が継続される。　 When the first control circuit 301 detects an abnormality, an abnormality occurs in the second system. When the abnormality in the second system is an abnormality in the drive system, the second control circuit 302 is in a state where it has lost control of the second inverter 112 (a state where the second control circuit 302 has failed). Even in such a case, since the first control circuit 301 controls the second neutral point relay circuit 121, a neutral point is formed on the second system side. Then, power supply to the motor 200 is continued by the inverter 111 on the first system side. *
また、第２インバータ１１２は、第２の制御回路３０２の失陥時には、電源４０４からの電力に対し遮断状態となる。具体的には、第２インバータ１１２における全部のスイッチ素子が、制御信号のない通常時に自ずとオフする。このため、電源４０４から第２インバータ１１２には電流が流れ込まず電力損失が抑制される。　 Further, the second inverter 112 is cut off from the power from the power source 404 when the second control circuit 302 fails. Specifically, all the switch elements in the second inverter 112 are automatically turned off at the normal time when there is no control signal. For this reason, current does not flow from the power supply 404 to the second inverter 112, and power loss is suppressed. *
第２の制御回路３０２が異常を検知した場合には、第２の制御回路３０２は第１中性点リレー回路１２２をオンする。なお、制御回路３０１、３０２は、異常時以外の特定の場合にも中性点スイッチ１３１、１３２をオンしてもよい。　 When the second control circuit 302 detects an abnormality, the second control circuit 302 turns on the first neutral point relay circuit 122. Note that the control circuits 301 and 302 may turn on the neutral point switches 131 and 132 even in a specific case other than when an abnormality occurs. *
第１中性点リレー回路１２２がオンすると、モータ２００の三相のコイルの一端２１０同士が接続される。その結果、モータ２００のコイルはＹ結線される。そして、第１中性点リレー回路１２２の中のノードＮ１が中性点として機能することになる。「第１中性点リレー回路１２２がオンする」とは、第１中性点リレー回路１２２内の第１中性点リレー１２３、１２４および１２５が全てオンすることを意味する。この接続状態で、第２の制御回路３０２は、第２インバータ１１２を三相通電制御することでモータ２００のコイルを通電することができる。　 When the first neutral point relay circuit 122 is turned on, the one ends 210 of the three-phase coils of the motor 200 are connected to each other. As a result, the coil of the motor 200 is Y-connected. Then, the node N1 in the first neutral point relay circuit 122 functions as a neutral point. “The first neutral point relay circuit 122 is turned on” means that all the first neutral point relays 123, 124, and 125 in the first neutral point relay circuit 122 are turned on. In this connected state, the second control circuit 302 can energize the coil of the motor 200 by controlling the second inverter 112 for three-phase energization. *
第２の制御回路３０２が異常を検知した場合には、第１系統で異常が生じたことになる。第１系統の異常が駆動系の異常である場合、第１の制御回路３０１は、第１インバータ１１１を制御することができない状態(失陥した状態)になる。このような場合でも、第２の制御回路３０２が第１中性点リレー回路１２２を制御するので第１系統側で中性点が形成される。そして、第２系統側のインバータ１１２でモータ２００に対する電力供給が継続される。　 If the second control circuit 302 detects an abnormality, it means that an abnormality has occurred in the first system. When the abnormality in the first system is an abnormality in the drive system, the first control circuit 301 is in a state where it cannot control the first inverter 111 (failed state). Even in such a case, since the second control circuit 302 controls the first neutral point relay circuit 122, a neutral point is formed on the first system side. Then, power supply to the motor 200 is continued by the inverter 112 on the second system side. *
また、第１インバータ１１１は、第１の制御回路３０１の失陥時には、電源４０３からの電力に対し遮断状態となる。具体的には、第１インバータ１１１における全部のスイッチ素子が、制御信号のない通常時に自ずとオフする。このため、電源４０３から第１インバータ１１１には電流が流れ込まず電力損失が抑制される。　 Further, the first inverter 111 is cut off from the power from the power supply 403 when the first control circuit 301 fails. Specifically, all the switch elements in the first inverter 111 are automatically turned off at the normal time when there is no control signal. For this reason, current does not flow from the power source 403 to the first inverter 111, and power loss is suppressed. *
異常時における具体的な三相通電制御として、制御回路３０１、３０２は、例えば図３に示される電流波形と同様の波形が得られるようなＰＷＭ制御によってインバータ１１１、１１２の各スイッチング素子におけるスイッチング動作を制御する。　 As specific three-phase energization control at the time of abnormality, the control circuits 301 and 302 are configured to perform switching operations in the switching elements of the inverters 111 and 112, for example, by PWM control that can obtain a waveform similar to the current waveform shown in FIG. To control. *
表２は、図３に示される電流波形と同様の波形が得られるような三相通電制御で例えば第２インバータ１１２が制御された場合に第２インバータ１４０の端子に流れる電流値を電気角毎に例示する。表２は具体的に、第２インバータ１１２とＵ相、Ｖ相およびＷ相それぞれのコイルの他端２２０との接続点に流れる、電気角３０°毎の電流値を示する。電流方向の定義は上述したとおりである。　 Table 2 shows the values of the current flowing through the terminals of the second inverter 140 for each electrical angle when the second inverter 112 is controlled by, for example, three-phase energization control such that a waveform similar to the current waveform shown in FIG. 3 is obtained. It is illustrated in Table 2 specifically shows the current value at every electrical angle of 30 ° flowing through the connection point between the second inverter 112 and the other end 220 of each of the U-phase, V-phase, and W-phase coils. The definition of the current direction is as described above. *
Figure JPOXMLDOC01-appb-T000002
Figure JPOXMLDOC01-appb-T000002
例えば、電気角３０°において、Ｕ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れ、Ｖ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩｐｋの電流が流れ、Ｗ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ２の電流が流れる。電気角６０°において、Ｕ相のコイルには第１インバータ１１１から第２インバータ１１２に大きさＩ１の電流が流れ、Ｖ相のコイルには第２インバータ１１２から第１インバータ１１１に大きさＩ１の電流が流れる。電気角６０°において、Ｗ相のコイルは電流が「０」となる。中性点に流れ込む電流と中性点から流れ出る電流との総和は電気角毎に常に「０」になる。　 For example, at an electrical angle of 30 °, a current of magnitude I 2 flows from the first inverter 111 to the second inverter 112 in the U-phase coil, and a magnitude of the current from the second inverter 112 to the first inverter 111 flows in the V-phase coil. the current flow I pk, the coil of the W-phase current having a magnitude I 2 flows from the first inverter 111 to the second inverter 112. At an electrical angle of 60 °, a current of magnitude I 1 flows from the first inverter 111 to the second inverter 112 through the U-phase coil, and a magnitude I from the second inverter 112 to the first inverter 111 flows through the V-phase coil. 1 current flows. At an electrical angle of 60 °, the current of the W-phase coil is “0”. The sum of the current flowing into the neutral point and the current flowing out of the neutral point is always “0” for each electrical angle.
表１および表２に示されるように、正常時および異常時の制御の間でモータ２００に流れるモータ電流は電気角毎に同一である。このため、異常時の制御において、正常時の制御におけるモータのトルクが維持される。　 As shown in Tables 1 and 2, the motor current flowing through the motor 200 during normal and abnormal control is the same for each electrical angle. For this reason, in the control at the time of abnormality, the motor torque in the control at the normal time is maintained. *
なお、異常時の異常箇所が、インバータ１１１、１１２内の１つのスイッチ素子である場合には、例えば特開２０１４－１９２９５０号公報に記載された制御手法によってインバータ１１１、１１２が中性点とされることが可能である。但し、この制御手法の実現に際しては、制御信号の電圧が正常時とは異なる特殊なゲートドライバが必要とされる。このような制御手法に対し、中性点リレー回路１２１、１２２による中性点化は異常時のみでオンされればよいため、制御信号のオン電圧は１つでよく、特殊なゲートドライバが不要である。また、故障を生じたスイッチ素子を含んだインバータ１１１、１１２の使用は避けることが望ましいので、この点でも中性点リレー回路１２１、１２２によって中性点が形成される手法の方が優れる。



（モータ駆動ユニット１０００のハードウェア構成）

モータ駆動ユニット１０００のハードウェア構成について説明する。図４はモータ駆動ユニット１０００のハードウェア構成を模式的に示す図である。　 In addition, when the abnormal part at the time of abnormality is one switch element in the inverters 111 and 112, the inverters 111 and 112 are set to the neutral point by a control method described in, for example, Japanese Patent Application Laid-Open No. 2014-192950. Is possible. However, in order to realize this control method, a special gate driver whose control signal voltage is different from that in the normal state is required. In contrast to such a control method, neutralization by the neutral point relay circuits 121 and 122 only needs to be turned on when there is an abnormality, so only one on-voltage of the control signal is required and no special gate driver is required. It is. Further, since it is desirable to avoid the use of the inverters 111 and 112 including the switch element in which a failure has occurred, the method in which the neutral point is formed by the neutral point relay circuits 121 and 122 is superior also in this respect.



(Hardware configuration of motor drive unit 1000)

A hardware configuration of the motor drive unit 1000 will be described. FIG. 4 is a diagram schematically showing a hardware configuration of the motor drive unit 1000.
モータ駆動ユニット１０００は、ハードウェア構成として、上述したモータ２００と、第１実装基板１００１と、第２実装基板１００２と、ハウジング１００３と、コネクタ１００４、１００５とを備える。　 The motor drive unit 1000 includes the motor 200, the first mounting board 1001, the second mounting board 1002, the housing 1003, and the connectors 1004 and 1005 described above as hardware configurations. *
モータ２００からは、コイルの一端２１０と他端２２０が突き出して実装基板１００１、１００２に向かって延びる。コイルの一端２１０と他端２２０との双方は、第１実装基板１００１と第２実装基板１００２との間を渡る。具体的には、コイルの一端２１０と他端２２０との双方が例えば第２実装基板１００２に接続される。コイルの一端２１０と他端２２０との双方が、第２実装基板１００２を貫通して第１実装基板１００１に接続される。　 From the motor 200, one end 210 and the other end 220 of the coil protrude and extend toward the mounting boards 1001 and 1002. Both the one end 210 and the other end 220 of the coil cross between the first mounting substrate 1001 and the second mounting substrate 1002. Specifically, both one end 210 and the other end 220 of the coil are connected to the second mounting substrate 1002, for example. Both one end 210 and the other end 220 of the coil pass through the second mounting substrate 1002 and are connected to the first mounting substrate 1001. *
第１実装基板１００１と第２実装基板１００２とは基板面同士が対向する。基板面が対向した方向に、モータ２００の回転軸が延びる。第１実装基板１００１と第２実装基板１００２とモータ２００は、ハウジング１００３内に収容されることで互いの位置が固定される。　 The first mounting substrate 1001 and the second mounting substrate 1002 face each other. The rotation axis of the motor 200 extends in the direction in which the substrate surfaces face each other. The first mounting substrate 1001, the second mounting substrate 1002, and the motor 200 are housed in the housing 1003 so that their positions are fixed. *
第１実装基板１００１には、第１電源４０３からの電源コードが接続されるコネクタ１００４が取り付けられる。第２実装基板１００２には、第２電源４０４からの電源コードが接続されるコネクタ１００５が取り付けられる。　図５は、第１実装基板１００１および第２実装基板１００２のハードウェア構成を模式的に示す図である。　 A connector 1004 to which a power cord from the first power supply 403 is connected is attached to the first mounting board 1001. A connector 1005 to which a power cord from the second power supply 404 is connected is attached to the second mounting board 1002. FIG. 5 is a diagram schematically showing the hardware configuration of the first mounting board 1001 and the second mounting board 1002. *
第１実装基板１００１には、第１インバータ１１１および第２中性点リレー回路１２１が実装される。また、第１実装基板１００１とは別の第２実装基板１００２には、第２インバータ１１２および第１中性点リレー回路１２２が実装される。第１系統と第２系統とに冗長化された各系統の回路が２枚の実装基板１００１、１００２に振り分けられるので、２枚の実装基板について回路規模が均された効率的な素子配置が可能となる。　 A first inverter 111 and a second neutral relay circuit 121 are mounted on the first mounting board 1001. A second inverter 112 and a first neutral relay circuit 122 are mounted on a second mounting board 1002 that is different from the first mounting board 1001. Since the circuits of each system made redundant in the first system and the second system are distributed to the two mounting boards 1001 and 1002, an efficient element arrangement in which the circuit scale is equalized on the two mounting boards is possible. It becomes. *
第１実装基板１００１には、第１の制御回路３０１も実装される。第２実装基板１００２には、第２の制御回路３０２も実装される。各制御回路３０１、３０２が、各制御回路３０１、３０２による制御対象のインバータ１１１、１１２および中性点リレー回路１２１、１２２と同一の実装基板上に実装されるので制御のための配線が基板内に納まる。よって、効率的な素子配置が可能である。　 A first control circuit 301 is also mounted on the first mounting substrate 1001. A second control circuit 302 is also mounted on the second mounting substrate 1002. Since the control circuits 301 and 302 are mounted on the same mounting board as the inverters 111 and 112 and the neutral point relay circuits 121 and 122 to be controlled by the control circuits 301 and 302, wiring for control is provided in the board. Fits in. Therefore, efficient element arrangement is possible. *
第１実装基板１００１上の第１インバータ１１１と第２実装基板１００２上の第１中性点リレー回路１２２は、第１実装基板１００１と第２実装基板１００２との対向方向で見た場合に互いに重なり合う位置に実装される。また、第１実装基板１００１上の第２中性点リレー回路１２１と第２実装基板１００２上の第２インバータ１１２は、第１実装基板１００１と第２実装基板１００２との対向方向で見た場合に互いに重なり合う位置に実装される。このような回路配置により、コイルの一端２１０および他端２２０と各回路とを接続する配線経路が簡素化された効率的な素子配置が可能となる。　 The first inverter 111 on the first mounting board 1001 and the first neutral relay circuit 122 on the second mounting board 1002 are mutually opposite when viewed in the opposing direction of the first mounting board 1001 and the second mounting board 1002. It is mounted at the overlapping position. When the second neutral relay circuit 121 on the first mounting board 1001 and the second inverter 112 on the second mounting board 1002 are viewed in the opposite direction of the first mounting board 1001 and the second mounting board 1002. Are mounted at positions that overlap each other. Such a circuit arrangement enables an efficient element arrangement in which the wiring path connecting the one end 210 and the other end 220 of the coil and each circuit is simplified. *
第１実装基板１００１と第２実装基板１００２との対向方向で見た場合に、第１実装基板１００１上の第１インバータ１１１と第２実装基板１００２上の第２インバータ１１２とが互いに対称な配置となる。また、第１実装基板１００１と第２実装基板１００２との対向方向で見た場合に、第１実装基板１００１上の第２中性点リレー回路１２１と第２実装基板１００２上の第１中性点リレー回路１２２とが互いに対称な配置となる。このような対称な配置により、２枚の実装基板１００１、１００２について基板設計が共通化できる。　図６は、角度センサ３２１、３２２周辺のハードウェア構成を示す図である。　 The first inverter 111 on the first mounting substrate 1001 and the second inverter 112 on the second mounting substrate 1002 are symmetrically arranged when viewed in the opposing direction of the first mounting substrate 1001 and the second mounting substrate 1002. It becomes. Further, when viewed in the opposing direction of the first mounting board 1001 and the second mounting board 1002, the second neutral point relay circuit 121 on the first mounting board 1001 and the first neutrality on the second mounting board 1002 are used. The point relay circuit 122 is symmetrically arranged. Such a symmetrical arrangement enables common board design for the two mounting boards 1001 and 1002. FIG. 6 is a diagram illustrating a hardware configuration around the angle sensors 321 and 322. *
第１実装基板１００１上には第１の角度センサ３２１が実装され、第２実装基板１００２上には第２の角度センサ３２２が実装される。これらの角度センサ３２１，３２２は磁気センサであり、２つの実装基板１００１，１００２の間には、センサマグネット３２３，３２４が設けられる。つまり、センサマグネット３２３，３２４を間に挟んだ両側に実装基板１００１，１００２を備え、各実装基板１００１，１００２には、センサマグネット３２３，３２４の回転角度を検知する磁気センサである角度センサ３２１，３２２が搭載される。このように角度センサ３２１，３２２が各実装基板１００１，１００２に備えられることで、角度センサ３２１，３２２の冗長性が実現される。また、２枚の実装基板１００１，１００２に２つの制御回路３０１、３０２が個別に搭載されることによる独立性がセンサ入力の観点からも担保される。　 A first angle sensor 321 is mounted on the first mounting board 1001, and a second angle sensor 322 is mounted on the second mounting board 1002. These angle sensors 321 and 322 are magnetic sensors, and sensor magnets 323 and 324 are provided between the two mounting boards 1001 and 1002. That is, the mounting boards 1001 and 1002 are provided on both sides of the sensor magnets 323 and 324, and each mounting board 1001 and 1002 includes an angle sensor 321 that is a magnetic sensor for detecting the rotation angle of the sensor magnets 323 and 324. 322 is mounted. As described above, the angle sensors 321 and 322 are provided on the mounting boards 1001 and 1002, so that the redundancy of the angle sensors 321 and 322 is realized. Further, the independence due to the two control circuits 301 and 302 being individually mounted on the two mounting boards 1001 and 1002 is ensured from the viewpoint of sensor input. *
また、上述したように、第１実装基板１００１には、モータ２００に接続される第１インバータ１１１と、前記第１インバータ１１１を制御する第１制御回路３０１とが搭載され、第２実装基板１００２には、モータ２００に接続される第２インバータ１１２と、前記第２インバータ１１２を制御する第２制御回路３０２とが搭載される。このため、２系統の制御系と対応付けられた角度センサ３２１，３２２の冗長性が実現される。　 Further, as described above, the first mounting board 1001 is mounted with the first inverter 111 connected to the motor 200 and the first control circuit 301 for controlling the first inverter 111, and the second mounting board 1002. The second inverter 112 connected to the motor 200 and the second control circuit 302 that controls the second inverter 112 are mounted. For this reason, the redundancy of the angle sensors 321 and 322 associated with the two control systems is realized. *
センサマグネット３２３，３２４はシャフト２５０に固定され、シャフト２５０は、モータ２００から２枚の実装基板１００１，１００２側へと延び、モータ２００のロータと共に回転する。　シャフト２５０に対するセンサマグネット３２３，３２４の固定としては、シャフトへの直接固定であってもよく、あるいは、他の部材を介した間接的な固定であってもよい。間接的な固定としては、例えば、シャフトに、ピン、ヨーク、プレートなどが取り付けられ、それらピン、ヨーク、プレートなどにセンサマグネット３２３，３２４が固定されてもよい。また、モータのロータと一体になったモータシャフトに、センサマグネット３２３，３２４の固定用のシャフトが接続されてもよい。　シャフト２５０は、２枚の実装基板１００１，１００２のうち、モータ２００側に位置する実装基板１００２を貫通する。シャフト２５０が２枚の実装基板１００１，１００２の少なくとも１つを貫通することで、シャフト２５０とセンサマグネット３２３，３２４との配置が容易となる。　 The sensor magnets 323 and 324 are fixed to the shaft 250, and the shaft 250 extends from the motor 200 toward the two mounting boards 1001 and 1002, and rotates together with the rotor of the motor 200. The sensor magnets 323 and 324 may be fixed to the shaft 250 by direct fixing to the shaft or indirectly by other members. As the indirect fixing, for example, a pin, a yoke, a plate, or the like may be attached to the shaft, and the sensor magnets 323, 324 may be fixed to the pin, the yoke, the plate, or the like. Further, a shaft for fixing the sensor magnets 323 and 324 may be connected to a motor shaft integrated with the rotor of the motor. The shaft 250 penetrates the mounting board 1002 located on the motor 200 side of the two mounting boards 1001 and 1002. Since the shaft 250 penetrates at least one of the two mounting boards 1001 and 1002, the arrangement of the shaft 250 and the sensor magnets 323 and 324 becomes easy. *
本実施形態では２つのセンサマグネット３２３，３２４が備えられる。２つのセンサマグネット３２３，３２４のうち第１のセンサマグネット３２３は、シャフト２５０の先端に固定される。そして、２つの角度センサ３２１，３２２のうち第１の角度センサ３２１は、シャフト２５０の回転軸の延長上に位置する。言い換えると、第１の角度センサ３２１は、モータ２００からシャフト２５０が延びる方向の延長上に位置する。このような位置に設けられた角度センサ３２１は、回転角度の検知において、シャフト２５０の偏心や振れによる影響が小さい。　 In this embodiment, two sensor magnets 323 and 324 are provided. Of the two sensor magnets 323 and 324, the first sensor magnet 323 is fixed to the tip of the shaft 250. Of the two angle sensors 321 and 322, the first angle sensor 321 is positioned on the extension of the rotation axis of the shaft 250. In other words, the first angle sensor 321 is located on an extension in the direction in which the shaft 250 extends from the motor 200. The angle sensor 321 provided at such a position is less affected by the eccentricity or vibration of the shaft 250 in detecting the rotation angle. *
２つのセンサマグネット３２３，３２４のうち第２のセンサマグネット３２４は、シャフト２５０が貫通したリングマグネットであり、シャフト２５０が貫通しない場合に較べ、シャフト２５０に対するセンサマグネット３２４の固定が容易である。　 Of the two sensor magnets 323 and 324, the second sensor magnet 324 is a ring magnet through which the shaft 250 penetrates, and the sensor magnet 324 can be easily fixed to the shaft 250 as compared with the case where the shaft 250 does not penetrate. *
２つのセンサマグネット３２３，３２４のうち第１のセンサマグネット３２３は、第１実装基板１００１に搭載された第１の角度センサ３２１に向けて磁場を掛ける役目を負う。また、２つのセンサマグネット３２３，３２４のうち第２のセンサマグネット３２４は、第２実装基板１００２に搭載された第２の角度センサ３２２に向けて磁場を掛ける役目を負う。　 Of the two sensor magnets 323 and 324, the first sensor magnet 323 plays a role of applying a magnetic field toward the first angle sensor 321 mounted on the first mounting substrate 1001. Of the two sensor magnets 323 and 324, the second sensor magnet 324 plays a role of applying a magnetic field toward the second angle sensor 322 mounted on the second mounting substrate 1002. *
別の視点では、第１のセンサマグネット３２３は、シャフト２５０の回転軸の延長方向に磁場を掛け、第２のセンサマグネット３２４は、第１のセンサマグネット３２３とは逆方向に磁場を掛ける。ここで、各センサマグネット３２３，３２４が各角度センサ３２１，３２２に掛ける磁場の状態について説明する。図７は、第１のセンサマグネット３２３による磁場の状態を示す図である。　 From another viewpoint, the first sensor magnet 323 applies a magnetic field in the extension direction of the rotation axis of the shaft 250, and the second sensor magnet 324 applies a magnetic field in the opposite direction to the first sensor magnet 323. Here, the state of the magnetic field applied to the angle sensors 321 and 322 by the sensor magnets 323 and 324 will be described. FIG. 7 is a diagram showing the state of the magnetic field by the first sensor magnet 323. *
第１のセンサマグネット３２３は、第１実装基板１００１の基板面に対向してＮ極とＳ極が並んだ磁極面３２５を有する。この磁極面３２５は、シャフト２５０の回転軸の延びる方向を向いた磁極面である。このような磁極面３２５から発生する磁場３２７は、第１実装基板１００１の基板面に向けて磁極面３２５から立ち上がり、磁極面３２５に近接した範囲に広がった状態となる。このように磁極面３２５が回転軸の延びる方向を向いた構成の場合、第１の角度センサ３２１の大面積化が可能である。　 The first sensor magnet 323 has a magnetic pole surface 325 in which an N pole and an S pole are arranged facing the substrate surface of the first mounting substrate 1001. The magnetic pole surface 325 is a magnetic pole surface facing the direction in which the rotation axis of the shaft 250 extends. The magnetic field 327 generated from the magnetic pole surface 325 rises from the magnetic pole surface 325 toward the substrate surface of the first mounting substrate 1001 and spreads in a range close to the magnetic pole surface 325. When the magnetic pole surface 325 is thus oriented in the direction in which the rotation axis extends, the area of the first angle sensor 321 can be increased. *
第１の角度センサ３２１は、上述したように、シャフト２５０の回転軸の延長上に位置する。第１の角度センサ３２１が、シャフト２５０の回転軸の延びる方向から見て、少なくとも一部が第１のセンサマグネット３２３と重なる位置に搭載されることで、上述した磁場３２７の状態とも相まって、第１の角度センサ３２１は第１のセンサマグネット３２３に対して近接配置が可能となる。この結果、２枚の実装基板１００１，１００２の相互間隔が狭まり、装置の小型化が図られる。　図８は、第２のセンサマグネット３２４による磁場の状態を示す図である。　 As described above, the first angle sensor 321 is located on the extension of the rotation axis of the shaft 250. The first angle sensor 321 is mounted at a position where at least a part of the first angle sensor 321 overlaps the first sensor magnet 323 when viewed from the direction in which the rotation axis of the shaft 250 extends. One angle sensor 321 can be disposed close to the first sensor magnet 323. As a result, the distance between the two mounting substrates 1001 and 1002 is reduced, and the apparatus can be miniaturized. FIG. 8 is a diagram showing the state of the magnetic field by the second sensor magnet 324. *
第２のセンサマグネット３２４は、シャフト２５０を間に挟んで互いに背を向けた２つの磁極面３２６を有する。それら２つの磁極面３２６は、シャフト２５０が延びる方向に沿って広がり、２つの磁極面３２６の一方がＮ極で他方がＳ極である。言い換えると、シャフト２５０の回転軸に沿って広がる磁極面３２６がシャフト２５０を挟んだ両側に位置し、極性の異なる磁極面３２６同士がシャフト２５０を挟んで互いに背を向ける。　 The second sensor magnet 324 has two magnetic pole surfaces 326 facing each other with the shaft 250 interposed therebetween. The two magnetic pole surfaces 326 extend along the direction in which the shaft 250 extends, and one of the two magnetic pole surfaces 326 is an N pole and the other is an S pole. In other words, the magnetic pole surfaces 326 extending along the rotation axis of the shaft 250 are located on both sides of the shaft 250, and the magnetic pole surfaces 326 having different polarities face each other with the shaft 250 interposed therebetween. *
このような磁極面３２６から発生する磁場３２８は、第２実装基板１００２の基板面に沿って広がった状態となる。第２の角度センサ３２２は、シャフト２５０の脇に位置するが、第２実装基板１００２の基板面に沿って広がった磁場３２８により、第２の角度センサ３２２には、シャフト２５０に垂直な方向に近い向きに磁場が掛かることになる。　なお、図８には、一方がＮ極で他方がＳ極である２つの磁極が示されるが、磁極面の向きがシャフト中心から遠ざかる方向(いわゆる径方向)を向く構成は、磁極の多極化に適する。また、図８には、第２の角度センサ３２２として複数のセンサが示されるが、第２の角度センサ３２２は少なくとも１つ設けられればよい。



 (変形例)



　図９は、センサ構成が異なる変形例を示す図である。　 Such a magnetic field 328 generated from the magnetic pole surface 326 is spread along the substrate surface of the second mounting substrate 1002. The second angle sensor 322 is located on the side of the shaft 250, but the second angle sensor 322 has a direction perpendicular to the shaft 250 due to the magnetic field 328 spreading along the substrate surface of the second mounting substrate 1002. A magnetic field is applied in the near direction. FIG. 8 shows two magnetic poles, one of which is an N pole and the other is an S pole. However, the configuration in which the direction of the magnetic pole surface is away from the shaft center (so-called radial direction) is used to increase the number of magnetic poles. Suitable. 8 shows a plurality of sensors as the second angle sensor 322, it is sufficient that at least one second angle sensor 322 is provided.



(Modification)



FIG. 9 is a diagram illustrating a modification example in which the sensor configuration is different.
図９に示す変形例では、第１の角度センサ３２１がシャフト２５０の延長線上から外れた位置に設けられる。また、第１のセンサマグネット３２３は、シャフト２５０が貫通したリングマグネットである。つまり、この変形例では、第１の角度センサ３２１および第１のセンサマグネット３２３が、第２の角度センサ３２２および第２のセンサマグネット３２４と対称な構成となる。このため、冗長化された２つの角度センサ３２１，３２２における性能が同等となる。また、この変形例では、第１のセンサマグネット３２３および第２のセンサマグネット３２４の双方とも、シャフト２５０の先端ではなくシャフト２５０の途中に設けられる。　図１０は、マグネット構成が異なる変形例を示す図である。　 In the modification shown in FIG. 9, the first angle sensor 321 is provided at a position off the extension line of the shaft 250. The first sensor magnet 323 is a ring magnet through which the shaft 250 passes. That is, in this modification, the first angle sensor 321 and the first sensor magnet 323 are symmetrical with the second angle sensor 322 and the second sensor magnet 324. For this reason, the performance in the two angle sensors 321 and 322 made redundant becomes equivalent. In this modification, both the first sensor magnet 323 and the second sensor magnet 324 are provided not in the tip of the shaft 250 but in the middle of the shaft 250. FIG. 10 is a diagram showing a modification example in which the magnet configuration is different. *
図１０に示す変形例では、シャフト２５０の途中に１つのセンサマグネット３２９が設けられ、この１つのセンサマグネット３２９から第１の実装基板１００１側および第２の実装基板１００２側の双方に磁場３３０が広がる。そして、２つの角度センサ３２１，３２２は、共通のセンサマグネット３２９からの磁場で回転角度を検知する。　この変形例では、センサマグネット３２９が１つであるため構造が簡素である。　図１１は、ヒートシンクの配置が考慮された変形例を示す図である。　 In the modification shown in FIG. 10, one sensor magnet 329 is provided in the middle of the shaft 250, and a magnetic field 330 is applied to both the first mounting board 1001 side and the second mounting board 1002 side from the one sensor magnet 329. spread. The two angle sensors 321 and 322 detect the rotation angle with the magnetic field from the common sensor magnet 329. In this modification, the structure is simple because there is one sensor magnet 329. FIG. 11 is a diagram showing a modification in which the arrangement of the heat sink is considered. *
図１１に示す変形例では、２枚の実装基板１００１，１００２で共通に用いられる１つのヒートシンク１０１０が２枚の実装基板１００１，１００２の間に設けられる。シャフト２５０は、一方の実装基板１００２を貫通すると共にヒートシンク１０１０も貫通する。　 In the modification shown in FIG. 11, one heat sink 1010 that is commonly used by the two mounting boards 1001 and 1002 is provided between the two mounting boards 1001 and 1002. The shaft 250 penetrates one mounting substrate 1002 and also penetrates the heat sink 1010. *
第１の実装基板１００１上の第１の角度センサ３２１は、第１の実装基板１００１の、ヒートシンク１０１０に対向した表面に実装される。また、第２の実装基板１００２上の第２の角度センサ３２２は、第２の実装基板１００２の、ヒートシンク１０１０に対向した表面に実装される。　 The first angle sensor 321 on the first mounting board 1001 is mounted on the surface of the first mounting board 1001 facing the heat sink 1010. The second angle sensor 322 on the second mounting substrate 1002 is mounted on the surface of the second mounting substrate 1002 facing the heat sink 1010. *
第１の角度センサ３２１に磁場を掛ける第１のセンサマグネット３２３は、第１の実装基板１００１とヒートシンク１０１０との間でシャフト２５０に固定される。また、第２の角度センサ３２２に磁場を掛ける第２のセンサマグネット３２４は、第２の実装基板１００２とヒートシンク１０１０との間でシャフト２５０に固定される。つまり、第１のセンサマグネット３２３と第２のセンサマグネット３２４は、ヒートシンク１０１０の両側に位置する。　このような構成により、ヒートシンク１０１０も含めた省スペースな配置が実現される。　図１２は、基板構成が異なる変形例による実装基板のハードウェア構成を模式的に示す図である。　 A first sensor magnet 323 that applies a magnetic field to the first angle sensor 321 is fixed to the shaft 250 between the first mounting substrate 1001 and the heat sink 1010. A second sensor magnet 324 that applies a magnetic field to the second angle sensor 322 is fixed to the shaft 250 between the second mounting substrate 1002 and the heat sink 1010. That is, the first sensor magnet 323 and the second sensor magnet 324 are located on both sides of the heat sink 1010. With such a configuration, a space-saving arrangement including the heat sink 1010 is realized. FIG. 12 is a diagram schematically showing a hardware configuration of a mounting board according to a modified example having a different board configuration. *
図１２に示されたハードウェア構成では、第１実装基板１００１と第２実装基板１００２とに加えて第３実装基板１００７が備えられる。第３実装基板１００７は、第１実装基板１００１と第２実装基板１００２の間に位置する。そして、制御回路３０１、３０２が第３実装基板１００７上に実装されるとともに、インバータ１１１、１１２および中性点リレー回路１２１、１２２は図５に示されたハードウェア構成と同様に第１実装基板１００１と第２実装基板１００２に実装される。このようなハードウェア構成により、パワー回路と制御回路とが分離されるので安全性の向上、および電源配線の簡素化が可能となる。　図１３は、中性点リレー回路の構成が異なる変形例による回路構成を模式的に示す図である。　 In the hardware configuration shown in FIG. 12, a third mounting board 1007 is provided in addition to the first mounting board 1001 and the second mounting board 1002. The third mounting substrate 1007 is located between the first mounting substrate 1001 and the second mounting substrate 1002. The control circuits 301 and 302 are mounted on the third mounting board 1007, and the inverters 111 and 112 and the neutral point relay circuits 121 and 122 are the first mounting board as in the hardware configuration shown in FIG. 1001 and the second mounting substrate 1002 are mounted. With such a hardware configuration, since the power circuit and the control circuit are separated, the safety can be improved and the power supply wiring can be simplified. FIG. 13 is a diagram schematically showing a circuit configuration according to a modified example in which the configuration of the neutral point relay circuit is different. *
図１３に示された変形例では、第１中性点スイッチ１３２が、第１インバータ１１１における電源４０３側に位置する電源端Ｅ１Ｈと、第１インバータ１１１におけるグランド側に位置するグランド端Ｅ１Ｌとに接続される。第１中性点スイッチ１３２は、電源端Ｅ１Ｈとグランド端Ｅ１Ｌとの接続・非接続を切替える第１中性点リレー回路の一例として機能する。図１３に示された変形例の第１中性点スイッチ１３２も、コイルに対する一端２１０側(第１系統側)と他端２２０側(第２系統側)とのうち一端２１０側における中性点の形成・非形成を切替えることが可能である。　 In the modification shown in FIG. 13, the first neutral point switch 132 is connected to the power supply terminal E1H located on the power supply 403 side of the first inverter 111 and the ground terminal E1L located on the ground side of the first inverter 111. Connected. The first neutral point switch 132 functions as an example of a first neutral point relay circuit that switches connection / disconnection between the power supply terminal E1H and the ground terminal E1L. The first neutral point switch 132 of the modification shown in FIG. 13 also has a neutral point on the one end 210 side of the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. It is possible to switch between formation and non-formation. *
第１中性点リレー回路１２２における電源端Ｅ１Ｈとグランド端Ｅ１Ｌとの接続・非接続の切替えは、モータ２００の相数(ここでは一例として３相)よりも少ない数のスイッチ素子によって実行可能であるため、従来の構造より回路規模は小さい。　 The connection between the power supply terminal E1H and the ground terminal E1L in the first neutral point relay circuit 122 can be switched by a smaller number of switch elements than the number of phases of the motor 200 (here, three phases as an example). Therefore, the circuit scale is smaller than the conventional structure. *
具体的には、第１中性点スイッチ１３２は、第１インバータ１１１について３個のハイサイドスイッチ素子１１３Ｈ、１１４Ｈおよび１１５Ｈの電源側と３個のローサイドスイッチ素子１１３Ｌ、１１４Ｌおよび１１５Ｌのグランド側との接続・非接続を１素子で切替えることができる。　 Specifically, the first neutral point switch 132 includes three power supply sides of the high- side switch elements 113H, 114H, and 115H and a ground side of the three low- side switch elements 113L, 114L, and 115L with respect to the first inverter 111. Can be switched with one element. *
第２中性点スイッチ１３１は、第２インバータ１１２における電源４０４側に位置する電源端Ｅ２Ｈと、第２インバータ１１２におけるグランド側に位置するグランド端Ｅ２Ｌとに接続される。第２中性点スイッチ１３１は、電源端Ｅ２Ｈとグランド端Ｅ２Ｌとの接続・非接続を切替える第２中性点リレー回路の一例として機能する。図１３に示された変形例の第２中性点スイッチ１３１も、コイルに対する一端２１０側(第１系統側)と他端２２０側(第２系統側)とのうち他端２２０側における中性点の形成・非形成を切替えることが可能である。　 The second neutral point switch 131 is connected to the power supply terminal E2H located on the power supply 404 side in the second inverter 112 and the ground terminal E2L located on the ground side in the second inverter 112. The second neutral point switch 131 functions as an example of a second neutral point relay circuit that switches connection / disconnection between the power supply terminal E2H and the ground terminal E2L. The second neutral point switch 131 of the modification shown in FIG. 13 is also neutral on the other end 220 side of the one end 210 side (first system side) and the other end 220 side (second system side) with respect to the coil. It is possible to switch the formation / non-formation of points. *
第２中性点リレー回路１２１における電源端Ｅ２Ｈとグランド端Ｅ２Ｌとの接続・非接続の切替えは、モータ２００の相数(ここでは一例として３相)よりも少ない数のスイッチ素子によって実行可能であるため、従来の構造より回路規模は小さい。　 Switching between connection / disconnection of the power supply terminal E2H and the ground terminal E2L in the second neutral point relay circuit 121 can be performed by a smaller number of switch elements than the number of phases of the motor 200 (here, three phases as an example). Therefore, the circuit scale is smaller than the conventional structure. *
具体的には、第２中性点スイッチ１３１は、第２インバータ１１２について３個のハイサイドスイッチ素子１１６Ｈ、１１７Ｈおよび１１８Ｈの電源側と３個のローサイドスイッチ素子１１６Ｌ、１１７Ｌおよび１１８Ｌのグランド側との接続・非接続を１素子で切替えることができる。　 Specifically, the second neutral point switch 131 includes three high- side switch elements 116H, 117H, and 118H on the power source side and three low- side switch elements 116L, 117L, and 118L on the ground side of the second inverter 112. Can be switched with one element. *
図１３に示された変形例では、コイル１０３、１０４とインバータ１１１、１１２との間には、分離スイッチ１０６、１０７が備えられる。分離スイッチ１０６、１０７は、電源４０３、４０４とインバータ１１１、１１２との接続・非接続を切替えることができる。制御回路３０１、３０２は、異常時には、相手側の系統について中性点スイッチ１３１、１３２をオンする。なお、制御回路３０１、３０２は、異常時以外の特定の場合にも中性点スイッチ１３１、１３２をオンしてもよい。また、分離スイッチ１０６、１０７は、制御信号が停止した状態では自ずとオフする。このため、制御回路３０１、３０２が動作不能となった場合などは、動作不能になった系統の分離スイッチ１０６、１０７がオフする。　 In the modification shown in FIG. 13, separation switches 106 and 107 are provided between the coils 103 and 104 and the inverters 111 and 112. The separation switches 106 and 107 can switch connection / disconnection between the power supplies 403 and 404 and the inverters 111 and 112. When an abnormality occurs, the control circuits 301 and 302 turn on the neutral point switches 131 and 132 for the counterpart system. Note that the control circuits 301 and 302 may turn on the neutral point switches 131 and 132 even in a specific case other than when an abnormality occurs. The separation switches 106 and 107 are automatically turned off when the control signal is stopped. For this reason, when the control circuits 301 and 302 become inoperable, the separation switches 106 and 107 of the system incapable of operating are turned off. *
例えば第１の制御回路３０１が異常を検知した場合には、第１の制御回路３０１が第２中性点スイッチ１３１をオンする。また、第２系統側の分離スイッチ１０７は、第２の制御回路３０２がオフするか自ずとオフする。　 For example, when the first control circuit 301 detects an abnormality, the first control circuit 301 turns on the second neutral point switch 131. In addition, the separation switch 107 on the second system side is turned off as a result of whether the second control circuit 302 is turned off. *
第２中性点スイッチ１３１がオンすると、第２インバータ１１２における電源端Ｅ２Ｈとグランド端Ｅ２Ｌとが接続される。その結果、３個のハイサイドスイッチ素子１１６Ｈ、１１７Ｈおよび１１８Ｈの電源側と３個のローサイドスイッチ素子１１６Ｌ、１１７Ｌおよび１１８Ｌのグランド側とが接続される。　 When the second neutral point switch 131 is turned on, the power supply terminal E2H and the ground terminal E2L in the second inverter 112 are connected. As a result, the power supply sides of the three high side switch elements 116H, 117H and 118H and the ground side of the three low side switch elements 116L, 117L and 118L are connected. *
この接続状態になると、ハイサイドスイッチ素子およびローサイドスイッチ素子の状態がどのような状態であっても、ハイサイドスイッチ素子およびローサイドスイッチ素子の寄生ダイオードと第２中性点スイッチ１３１とを介して、モータ２００の３相のコイルにおける他端２２０同士が接続される。従って、モータ２００のコイルはＹ結線される。そして、第２中性点スイッチ１３１が中性点として機能することになる。中性点として機能する第２中性点スイッチ１３１は、第２系統側の分離スイッチ１０７がオフすることで電源４０４から絶縁される。　この接続状態で、第１の制御回路３０１は、第１インバータ１１１を三相通電制御することでモータ２００のコイルを通電することができる。　 In this connection state, regardless of the state of the high-side switch element and the low-side switch element, via the parasitic diodes of the high-side switch element and the low-side switch element and the second neutral point switch 131, The other ends 220 of the three-phase coils of the motor 200 are connected. Therefore, the coil of the motor 200 is Y-connected. Then, the second neutral point switch 131 functions as a neutral point. The second neutral point switch 131 functioning as a neutral point is insulated from the power supply 404 when the separation switch 107 on the second system side is turned off. In this connected state, the first control circuit 301 can energize the coil of the motor 200 by controlling the first inverter 111 with three-phase energization. *
第１の制御回路３０１が異常を検知した場合には、第２系統では異常が生じた状態である。そして、第２系統の異常が駆動系の異常である場合、第２の制御回路３０２は、第２インバータ１１２に対する制御を失った状態(第２の制御回路３０２が失陥した状態)になる。このような場合でも、第１の制御回路３０１が第２中性点スイッチ１３１を制御するので第２系統側で中性点が形成される。そして、第１系統側のインバータ１１１でモータ２００に対する電力供給が継続される。　 When the first control circuit 301 detects an abnormality, the second system is in an abnormal state. When the abnormality in the second system is an abnormality in the drive system, the second control circuit 302 is in a state where it has lost control of the second inverter 112 (a state where the second control circuit 302 has failed). Even in such a case, since the first control circuit 301 controls the second neutral point switch 131, a neutral point is formed on the second system side. Then, power supply to the motor 200 is continued by the inverter 111 on the first system side. *
図１３に示された変形例で第２の制御回路３０２が異常を検知した場合には、第２の制御回路３０２は第１中性点スイッチ１３２をオンする。また第１系統側の分離スイッチ１０６は、第２の制御回路３０２がオフするか自ずとオフする。　 When the second control circuit 302 detects an abnormality in the modification shown in FIG. 13, the second control circuit 302 turns on the first neutral point switch 132. Also, the separation switch 106 on the first system side is turned off, or the second control circuit 302 is turned off. *
第１中性点スイッチ１３２がオンすると、第１インバータ１１１における電源端Ｅ１Ｈとグランド端Ｅ１Ｌとが接続される。その結果、３個のハイサイドスイッチ素子１１３Ｈ、１１４Ｈおよび１１５Ｈの電源側と３個のローサイドスイッチ素子１１３Ｌ、１１４Ｌおよび１１５Ｌのグランド側とが接続される。　 When the first neutral point switch 132 is turned on, the power supply terminal E1H and the ground terminal E1L of the first inverter 111 are connected. As a result, the power supply sides of the three high side switch elements 113H, 114H and 115H and the ground side of the three low side switch elements 113L, 114L and 115L are connected. *
この接続状態になると、ハイサイドスイッチ素子およびローサイドスイッチ素子の状態がどのような状態であっても、ハイサイドスイッチ素子およびローサイドスイッチ素子の寄生ダイオードと第１中性点スイッチ１３２とを介して、モータ２００の３相のコイルにおける一端２１０同士が接続される。従って、モータ２００のコイルはＹ結線される。そして、第１中性点スイッチ１３２が中性点として機能することになる。中性点として機能する第１中性点スイッチ１３２は、第１系統側の分離スイッチ１０６がオフすることで電源４０３から絶縁される。　 In this connection state, regardless of the state of the high-side switch element and the low-side switch element, the parasitic diodes of the high-side switch element and the low-side switch element and the first neutral point switch 132 are used. One ends 210 of the three-phase coils of the motor 200 are connected to each other. Therefore, the coil of the motor 200 is Y-connected. Then, the first neutral point switch 132 functions as a neutral point. The first neutral point switch 132 that functions as a neutral point is insulated from the power source 403 when the separation switch 106 on the first system side is turned off. *
第２の制御回路３０２が異常を検知した場合には、第１系統では異常が生じた状態である。そして、第１系統の異常が駆動系の異常である場合、第１の制御回路３０１は、第１インバータ１１１に対する制御を失った状態(第１の制御回路３０１が失陥した状態)になる。このような場合でも、第２の制御回路３０２が第１中性点スイッチ１３２を制御するので第１系統側で中性点が形成される。そして、第２系統側のインバータ１１２でモータ２００に対する電力供給が継続される。　この接続状態で、第２の制御回路３０２は、第２インバータ１１２を三相通電制御することでモータ２００のコイルを通電することができる。　図１４は、中性点リレー回路の構成が異なる別の変形例による回路構成を模式的に示す図である。　 When the second control circuit 302 detects an abnormality, the first system is in an abnormal state. When the abnormality in the first system is an abnormality in the drive system, the first control circuit 301 is in a state where it has lost control over the first inverter 111 (the state where the first control circuit 301 has failed). Even in such a case, since the second control circuit 302 controls the first neutral point switch 132, a neutral point is formed on the first system side. Then, power supply to the motor 200 is continued by the inverter 112 on the second system side. In this connected state, the second control circuit 302 can energize the coil of the motor 200 by controlling the second inverter 112 by three-phase energization. FIG. 14 is a diagram schematically showing a circuit configuration according to another modified example in which the configuration of the neutral point relay circuit is different. *
図１４に示された変形例では、第１中性点リレー回路１２２は、第１インバータ１１１における電源４０３側に位置する電源端Ｅ１Ｈと、第１インバータ１１１におけるグランド側に位置するグランド端Ｅ１Ｌとに接続される。第１中性点リレー回路１２２は、電源端Ｅ１Ｈとグランド端Ｅ１Ｌとの接続・非接続を切替えることができる。　第１中性点リレー回路１２２は、第１中性点リレー１２３とバックアップリレー１２４とを備える。　 In the modification shown in FIG. 14, the first neutral point relay circuit 122 includes a power supply terminal E1H located on the power supply 403 side in the first inverter 111 and a ground terminal E1L located on the ground side in the first inverter 111. Connected to. The first neutral point relay circuit 122 can switch connection / disconnection between the power supply terminal E1H and the ground terminal E1L. The first neutral point relay circuit 122 includes a first neutral point relay 123 and a backup relay 124. *
第１中性点リレー１２３は、第１インバータ１１１について３個のハイサイドスイッチ素子１１３Ｈ、１１４Ｈおよび１１５Ｈの電源側と３個のローサイドスイッチ素子１１３Ｌ、１１４Ｌおよび１１５Ｌのグランド側との接続・非接続を１素子で切替えることができる。　 The first neutral point relay 123 is connected to or disconnected from the power supply side of the three high- side switch elements 113H, 114H and 115H and the ground side of the three low- side switch elements 113L, 114L and 115L with respect to the first inverter 111. Can be switched by one element. *
バックアップリレー１２４は、第１中性点リレー１２３に対して並列に接続される。第１中性点リレー１２３のオフ故障時にはバックアップリレー１２４によってスイッチ動作がバックアップされるので第１中性点リレー回路１２２は正常な動作を継続することができる。　 The backup relay 124 is connected in parallel to the first neutral point relay 123. Since the switch operation is backed up by the backup relay 124 when the first neutral point relay 123 is in an OFF failure, the first neutral point relay circuit 122 can continue normal operation. *
第１インバータ１１１および第１中性点リレー回路１２２の各回路におけるハイサイドスイッチ素子１１３Ｈ、１１４Ｈ、１１５Ｈ、ローサイドスイッチ素子１１３Ｌ、１１４Ｌ、１１５Ｌおよび第１中性点リレー１２３は、還流ダイオードを有する半導体スイッチ素子である。そして、第１インバータ１１１と第１中性点リレ
ー１２３とでは還流ダイオードが逆方向を向く。このような向きで接続される第１中性点リレー１２３を備えた第１中性点リレー回路１２２は、中性点の形成・非形成を切替えることができる。


The high- side switch elements 113H, 114H, and 115H, the low- side switch elements 113L, 114L, and 115L, and the first neutral-point relay 123 in each circuit of the first inverter 111 and the first neutral point relay circuit 122 are semiconductors having a freewheeling diode. It is a switch element. And in the 1st inverter 111 and the 1st neutral point relay 123, a free-wheeling diode turns to a reverse direction. The first neutral point relay circuit 122 including the first neutral point relay 123 connected in such a direction can switch the formation / non-formation of the neutral point.


第２中性点リレー回路１２１は、第２インバータ１１２における電源４０４側に位置する電源端Ｅ２Ｈと、第２インバータ１１２におけるグランド側に位置するグランド端Ｅ２Ｌとに接続される。第２中性点リレー回路１２１は、電源端Ｅ２Ｈとグランド端Ｅ２Ｌとの接続・非接続を切替えることができる。　第２中性点リレー回路１２１は、第２中性点リレー１２５とバックアップリレー１２６とを備える。　 The second neutral point relay circuit 121 is connected to the power supply terminal E2H located on the power supply 404 side in the second inverter 112 and the ground terminal E2L located on the ground side in the second inverter 112. The second neutral point relay circuit 121 can switch connection / disconnection between the power supply terminal E2H and the ground terminal E2L. The second neutral point relay circuit 121 includes a second neutral point relay 125 and a backup relay 126. *
第２中性点リレー１２５は、第２インバータ１１２について３個のハイサイドスイッチ素子１１６Ｈ、１１７Ｈおよび１１８Ｈの電源側と３個のローサイドスイッチ素子１１６Ｌ、１１７Ｌおよび１１８Ｌのグランド側との接続・非接続を１素子で切替えることができる。　 The second neutral point relay 125 is connected to or disconnected from the power supply side of the three high side switch elements 116H, 117H and 118H and the ground side of the three low side switch elements 116L, 117L and 118L with respect to the second inverter 112. Can be switched by one element. *
バックアップリレー１２６は、第２中性点リレー１２５に対して並列に接続される。第２中性点リレー１２５のオフ故障時にはバックアップリレー１２６によってスイッチ動作がバックアップされるので第２中性点リレー回路１２１は正常な動作を継続することができる。　 The backup relay 126 is connected in parallel to the second neutral point relay 125. Since the switch operation is backed up by the backup relay 126 when the second neutral point relay 125 is in an off failure, the second neutral point relay circuit 121 can continue normal operation. *
第２インバータ１１２および第２中性点リレー回路１２１の各回路におけるハイサイドスイッチ素子１１６Ｈ、１１７Ｈ、１１８Ｈ、ローサイドスイッチ素子１１６Ｌ、１１７Ｌ、１１８Ｌおよび第２中性点リレー１２５は、還流ダイオードを有する半導体スイッチ素子である。そして、第２インバータ１１２と第２中性点リレー１２５とでは還流ダイオードが逆方向を向く。このような向きで接続される第２中性点リレー１２５を備えた第２中性点リレー回路１２１は、中性点の形成・非形成を切替えることができる。　図１５は、中性点リレー回路の構成が異なる更に別の変形例による回路構成を模式的に示す図である。　 The high- side switch elements 116H, 117H, and 118H, the low- side switch elements 116L, 117L, and 118L, and the second neutral-point relay 125 in each circuit of the second inverter 112 and the second neutral point relay circuit 121 are semiconductors having a freewheeling diode. It is a switch element. And in the 2nd inverter 112 and the 2nd neutral point relay 125, a free-wheeling diode turns to a reverse direction. The second neutral point relay circuit 121 including the second neutral point relay 125 connected in such a direction can switch the formation / non-formation of the neutral point. FIG. 15 is a diagram schematically showing a circuit configuration according to still another modified example in which the configuration of the neutral point relay circuit is different. *
図１５に示された変形例では、バックアップリレーが中性点リレーに対して直列に接続される。具体的には、第１中性点リレー回路１２２のバックアップリレー１２４は、第１中性点リレー１２３と並列に電源端Ｅ１Ｈとグランド端Ｅ１Ｌに接続される。また、第２中性点リレー回路１２１のバックアップリレー１２６は、第２中性点リレー１２５と並列に電源端Ｅ２Ｈとグランド端Ｅ２Ｌに接続される。　 In the modification shown in FIG. 15, the backup relay is connected in series to the neutral point relay. Specifically, the backup relay 124 of the first neutral point relay circuit 122 is connected to the power supply terminal E1H and the ground terminal E1L in parallel with the first neutral point relay 123. The backup relay 126 of the second neutral point relay circuit 121 is connected to the power supply terminal E2H and the ground terminal E2L in parallel with the second neutral point relay 125. *
中性点リレー１２３、１２５のオン故障時にはバックアップリレー１２４、１２６によって電流が遮断される。なお、中性点リレー１２３、１２５の故障時に中性点の形成が必要になった場合は、インバータ１１１、１１２の制御によってインバータ１１１、１１２内に中性点が形成される。　図１６は、図３に示された変形例に対する別の変形例を示す図である。　 When the neutral relays 123 and 125 are turned on, the backup relays 124 and 126 cut off the current. In addition, when the neutral point needs to be formed when the neutral point relays 123 and 125 fail, the neutral point is formed in the inverters 111 and 112 by the control of the inverters 111 and 112. FIG. 16 is a diagram showing another modification example of the modification example shown in FIG. *
図１６に示された変形例では、２つの電源４０３、４０４は互いに独立であるがグランドが共通となる。このように電源４０３、４０４のグランドが共通する場合には、インバータ１１１、１１２とグランドとの間に分離スイッチ１０８、１０９が備えられる。そして、上述した異常時には、異常が生じた系統の分離スイッチ１０８、１０９がオフされて、中性点からグランドへの電流経路が遮断される。このような遮断により、異常が生じた系統での中性点が形成され、正常な系統による三相通電制御が可能となる。　 In the modification shown in FIG. 16, the two power supplies 403 and 404 are independent of each other but have a common ground. Thus, when the grounds of the power supplies 403 and 404 are common, the separation switches 108 and 109 are provided between the inverters 111 and 112 and the ground. At the time of the abnormality described above, the separation switches 108 and 109 of the system in which the abnormality has occurred are turned off, and the current path from the neutral point to the ground is interrupted. By such interruption, a neutral point is formed in the system in which an abnormality has occurred, and three-phase energization control by a normal system becomes possible. *
図１６では、一例として、第１インバータ１１１用の第１電源４０３および第２インバータ１１２用の第２電源４０４が示される。インバータ１１１、１１２とグランドとの間に分離スイッチ１０８、１０９が備えられるので、モータ駆動ユニット１０００は、第１インバータ１１１および第２インバータ１１２に共通の単一電源に接続されてもよい。



（変形例におけるモータ駆動ユニット１０００のハードウェア構成）



　図７に示された変形例におけるモータ駆動ユニット１０００のハードウェア構成について説明する。図１７は、図１３に示された変形例におけるモータ駆動ユニット１０００のハードウェア構成を模式的に示す図である。　 In FIG. 16, as an example, a first power supply 403 for the first inverter 111 and a second power supply 404 for the second inverter 112 are shown. Since the separation switches 108 and 109 are provided between the inverters 111 and 112 and the ground, the motor drive unit 1000 may be connected to a single power source common to the first inverter 111 and the second inverter 112.



(Hardware configuration of motor drive unit 1000 in the modified example)



A hardware configuration of the motor drive unit 1000 in the modification shown in FIG. 7 will be described. FIG. 17 is a diagram schematically showing a hardware configuration of motor drive unit 1000 in the modification shown in FIG.
図１７に示されたハードウェア構成では、モータ２００から、コイルの一端２１０と他端２２０が突き出して実装基板１００１、１００２に向かって延びる。コイルの一端２１０は、第２実装基板１００１に接続されるとともに第２実装基板１００１を貫通して第１実装基板１００１に接続される。また、コイルの他端２２０は、第２実装基板１００１のみに接続される。　 In the hardware configuration shown in FIG. 17, one end 210 and the other end 220 of the coil protrude from the motor 200 and extend toward the mounting boards 1001 and 1002. One end 210 of the coil is connected to the second mounting substrate 1001 and penetrates through the second mounting substrate 1001 and is connected to the first mounting substrate 1001. Further, the other end 220 of the coil is connected only to the second mounting substrate 1001. *
第１実装基板１００１と第２実装基板１００２とは基板面が互いに対向する。基板面が対向した方向に、モータ２００の回転軸が延びる。第１実装基板１００１と第２実装基板１００２とモータ２００は、ハウジング１００３内に収容されることで互いの位置が固定される。　 The first mounting substrate 1001 and the second mounting substrate 1002 face each other. The rotation axis of the motor 200 extends in the direction in which the substrate surfaces face each other. The first mounting substrate 1001, the second mounting substrate 1002, and the motor 200 are housed in the housing 1003 so that their positions are fixed. *
第１実装基板１００１には、第１電源４０３からの電源コードが接続されるコネクタ１００４が取り付けられる。第２実装基板１００２には、第２電源４０４からの電源コードが接続されるコネクタ１００５が取り付けられる。図１８は、図１７に示されたハードウェア構成における第１実装基板１００１および第２実装基板１００２のハードウェア構成を模式的に示す図である。　 A connector 1004 to which a power cord from the first power supply 403 is connected is attached to the first mounting board 1001. A connector 1005 to which a power cord from the second power supply 404 is connected is attached to the second mounting board 1002. FIG. 18 is a diagram schematically showing the hardware configuration of the first mounting board 1001 and the second mounting board 1002 in the hardware configuration shown in FIG. *
第１実装基板１００１には、第１インバータ１１１および第２中性点スイッチ１３１が実装される。また、第１実装基板１００１とは別の第２実装基板１００２には、第２インバータ１１２および第１中性点スイッチ１３２が実装される。第１系統と第２系統とに冗長化された各系統の回路が２枚の実装基板に振り分けられるので、２枚の実装基板について回路規模が同程度の効率的な素子配置が可能となる。　 A first inverter 111 and a second neutral point switch 131 are mounted on the first mounting board 1001. Further, the second inverter 112 and the first neutral point switch 132 are mounted on a second mounting board 1002 different from the first mounting board 1001. Since the circuits of each system made redundant in the first system and the second system are distributed to the two mounting boards, efficient element arrangement with the same circuit scale is possible for the two mounting boards. *
図１８に示されたハードウェア構成では、ＤＣバー２３０、２４０が備えられる。ＤＣバー２３０は、第１実装基板１００１と第２実装基板１００２との間を渡り、第１中性点スイッチ１３２に接続される。ＤＣバー２４０は、第１実装基板１００１と第２実装基板１００２との間を渡り、第２中性点スイッチ１３１に接続される。なお、ＤＣバーに替えてバスバー、ピンなどが備えられてもよい。　 In the hardware configuration shown in FIG. 18, DC bars 230 and 240 are provided. The DC bar 230 passes between the first mounting board 1001 and the second mounting board 1002 and is connected to the first neutral point switch 132. The DC bar 240 passes between the first mounting board 1001 and the second mounting board 1002 and is connected to the second neutral point switch 131. A bus bar, a pin, or the like may be provided instead of the DC bar. *
第１実装基板１００１には、第１の制御回路３０１も実装される。第２実装基板１００２には、第２の制御回路３０２も実装される。各制御回路３０１、３０２が、各制御回路３０１、３０２による制御対象のインバータ１１１、１１２および中性点スイッチ１３１、１３２と同一の実装基板上に実装されるので制御のための配線が同一基板内に納まる。よって効率的な素子配置が可能となる。図１９は、図１８とは基板構成が異なる変形例を示す図である。　 A first control circuit 301 is also mounted on the first mounting substrate 1001. A second control circuit 302 is also mounted on the second mounting substrate 1002. Since the control circuits 301 and 302 are mounted on the same mounting board as the inverters 111 and 112 and the neutral point switches 131 and 132 to be controlled by the control circuits 301 and 302, the wiring for control is on the same board. Fits in. Therefore, efficient element arrangement is possible. FIG. 19 is a diagram showing a modification example in which the substrate configuration is different from that in FIG. *
図１９に示された基板構成では、第１実装基板１００１と第２実装基板１００２とに加えて第３実装基板１００７が備えられる。第３実装基板１００７は、第１実装基板１００１と第２実装基板１００２の間に位置する。制御回路３０１、３０２が第３実装基板１００７上に実装されるとともに、インバータ１１１、１１２および中性点スイッチ１３１、１３２は図１８に示されたハードウェア構成と同様に第１実装基板１００１と第２実装基板１００２に実装される。このようなハードウェア構成により、パワー回路と制御回路とが分離されるので安全性の向上および電源配線の簡素化が可能となる。



（パワーステアリング装置の実施形態）


In the substrate configuration shown in FIG. 19, a third mounting substrate 1007 is provided in addition to the first mounting substrate 1001 and the second mounting substrate 1002. The third mounting substrate 1007 is located between the first mounting substrate 1001 and the second mounting substrate 1002. The control circuits 301 and 302 are mounted on the third mounting board 1007, and the inverters 111 and 112 and the neutral point switches 131 and 132 are connected to the first mounting board 1001 and the first mounting board 1001 as in the hardware configuration shown in FIG. 2 mounted on a mounting substrate 1002. With such a hardware configuration, since the power circuit and the control circuit are separated, the safety can be improved and the power supply wiring can be simplified.



(Embodiment of power steering device)


自動車等の車両は一般的に、パワーステアリング装置を備える。パワーステアリング装置は、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系の操舵トルクを補助するための補助トルクを生成する。補助トルクは、補助トルク機構によって生成され、運転者の操作の負担を軽減することができる。例えば、補助トルク機構は、操舵トルクセンサ、ＥＣＵ、モータおよび減速機構などから構成される。操舵トルクセンサは、ステアリング系における操舵トルクを検出する。ＥＣＵは、操舵トルクセンサの検出信号に基づいて駆動信号を生成する。モータは、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し、減速機構を介してステアリング系に補助トルクを伝達する。　 A vehicle such as an automobile generally includes a power steering device. The power steering device generates an auxiliary torque for assisting a steering torque of a steering system that is generated when a driver operates a steering wheel. The auxiliary torque is generated by the auxiliary torque mechanism, and the burden on the operation of the driver can be reduced. For example, the auxiliary torque mechanism includes a steering torque sensor, an ECU, a motor, a speed reduction mechanism, and the like. The steering torque sensor detects steering torque in the steering system. The ECU generates a drive signal based on the detection signal of the steering torque sensor. The motor generates auxiliary torque corresponding to the steering torque based on the drive signal, and transmits the auxiliary torque to the steering system via the speed reduction mechanism. *
上記実施形態のモータ駆動ユニット１０００は、パワーステアリング装置に好適に利用される。図２０は、本実施形態によるパワーステアリング装置２０００の構成を模式的に示す図である。　電動パワーステアリング装置２０００は、ステアリング系５２０および補助トルク機構５４０を備える。　 The motor drive unit 1000 of the above embodiment is suitably used for a power steering apparatus. FIG. 20 is a diagram schematically showing the configuration of the power steering apparatus 2000 according to the present embodiment. The electric power steering device 2000 includes a steering system 520 and an auxiliary torque mechanism 540. *
ステアリング系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（「ステアリングコラム」とも称される。）、自在軸継手５２３Ａ、５２３Ｂ、および回転軸５２４（「ピニオン軸」または「入力軸」とも称される。）を備える。　 The steering system 520 is also referred to as, for example, a steering handle 521, a steering shaft 522 (also referred to as “steering column”), universal joints 523A, 523B, and a rotating shaft 524 (“pinion shaft” or “input shaft”). Provided.) *
また、ステアリング系５２０は、例えば、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（例えば左右の前輪）５２９Ａ、５２９Ｂを備える。　 The steering system 520 includes, for example, a rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckle 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A, 529B. *
ステアリングハンドル５２１は、ステアリングシャフト５２２と自在軸継手５２３Ａ、５２３Ｂとを介して回転軸５２４に連結される。回転軸５２４にはラックアンドピニオン機構５２５を介してラック軸５２６が連結される。ラックアンドピニオン機構５２５は、回転軸５２４に設けられたピニオン５３１と、ラック軸５２６に設けられたラック５３２とを有する。ラック軸５２６の右端には、ボールジョイント５５２Ａ、タイロッド５２７Ａおよびナックル５２８Ａをこの順番で介して右の操舵車輪５２９Ａが連結される。右側と同様に、ラック軸５２６の左端には、ボールジョイント５５２Ｂ、タイロッド５２７Ｂおよびナックル５２８Ｂをこの順番で介して左の操舵車輪５２９Ｂが連結される。ここで、右側および左側は、座席に座った運転者から見た右側および左側にそれぞれ一致する。　 The steering handle 521 is connected to the rotating shaft 524 via a steering shaft 522 and universal shaft joints 523A and 523B. A rack shaft 526 is connected to the rotation shaft 524 via a rack and pinion mechanism 525. The rack and pinion mechanism 525 includes a pinion 531 provided on the rotation shaft 524 and a rack 532 provided on the rack shaft 526. The right steering wheel 529A is connected to the right end of the rack shaft 526 through a ball joint 552A, a tie rod 527A, and a knuckle 528A in this order. Similarly to the right side, the left steering wheel 529B is connected to the left end of the rack shaft 526 via a ball joint 552B, a tie rod 527B, and a knuckle 528B in this order. Here, the right side and the left side correspond to the right side and the left side as viewed from the driver sitting on the seat, respectively. *
ステアリング系５２０によれば、運転者がステアリングハンドル５２１を操作することによって操舵トルクが発生し、ラックアンドピニオン機構５２５を介して左右の操舵車輪５２９Ａ、５２９Ｂに伝わる。これにより、運転者は左右の操舵車輪５２９Ａ、５２９Ｂを操作することができる。　 According to the steering system 520, a steering torque is generated by the driver operating the steering handle 521, and is transmitted to the left and right steering wheels 529A and 529B via the rack and pinion mechanism 525. Accordingly, the driver can operate the left and right steering wheels 529A and 529B. *
補助トルク機構５４０は、例えば、操舵トルクセンサ５４１、ＥＣＵ５４２、モータ５４３、減速機構５４４および電力供給装置５４５を備える。補助トルク機構５４０は、ステアリングハンドル５２１から左右の操舵車輪５２９Ａ、５２９Ｂに至るステアリング系５２０に補助トルクを与える。なお、補助トルクは「付加トルク」と称されることがある。　 The auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an ECU 542, a motor 543, a speed reduction mechanism 544, and a power supply device 545. The auxiliary torque mechanism 540 gives auxiliary torque to the steering system 520 from the steering handle 521 to the left and right steering wheels 529A and 529B. The auxiliary torque may be referred to as “additional torque”. *
ＥＣＵ５４２としては、例えば図１などに示された制御回路３０１、３０２が用いられる。電力供給装置５４５としては、例えば図１などに示された電力供給装置１０１、１０２が用いられる。また、モータ５４３としては、例えば図１などに示されたモータ２００が用いられる。ＥＣＵ５４２、モータ５４３および電力供給装置５４５が、一般的に「機電一体型モータ」と称されるユニットを構成する場合には、当該ユニットとしては、例えば図４あるいは図１７に示されたハードウェア構成のモータ駆動ユニット１０００が好適に用いられる。図２０に示された各要素のうち、ＥＣＵ５４２、モータ５４３および電力供給装置５４５を除いた要素で構成された機構は、モータ５４３によって駆動されるパワーステアリング機構の一例に相当する。　 As the ECU 542, for example, control circuits 301 and 302 shown in FIG. As the power supply device 545, for example, the power supply devices 101 and 102 shown in FIG. As the motor 543, for example, the motor 200 shown in FIG. When the ECU 542, the motor 543, and the power supply device 545 constitute a unit generally referred to as a “mechanical and integrated motor”, the hardware configuration shown in FIG. 4 or FIG. The motor drive unit 1000 is preferably used. A mechanism including elements other than the ECU 542, the motor 543, and the power supply device 545 among the elements illustrated in FIG. 20 corresponds to an example of a power steering mechanism driven by the motor 543. *
操舵トルクセンサ５４１は、ステアリングハンドル５２１によって付与されたステアリング系５２０の操舵トルクを検出する。ＥＣＵ５４２は、操舵トルクセンサ５４１からの検出信号（以下「トルク信号」と表記する。）に基づいてモータ５４３を駆動するための駆動信号を生成する。モータ５４３は、操舵トルクに応じた補助トルクを駆動信号に基づいて発生する。補助トルクは、減速機構５４４を介してステアリング系５２０の回転軸５２４に伝達される。減速機構５４４は例えばウォームギヤ機構である。補助トルクはさらに、回転軸５２４からラックアンドピニオン機構５２５に伝達される。　 The steering torque sensor 541 detects the steering torque of the steering system 520 applied by the steering handle 521. The ECU 542 generates a drive signal for driving the motor 543 based on a detection signal from the steering torque sensor 541 (hereinafter referred to as “torque signal”). The motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal. The auxiliary torque is transmitted to the rotating shaft 524 of the steering system 520 via the speed reduction mechanism 544. The speed reduction mechanism 544 is, for example, a worm gear mechanism. The auxiliary torque is further transmitted from the rotating shaft 524 to the rack and pinion mechanism 525. *
パワーステアリング装置２０００は、補助トルクがステアリング系５２０に付与される箇所によって、ピニオンアシスト型、ラックアシスト型、およびコラムアシスト型等に分類される。図１４には、ピニオンアシスト型のパワーステアリング装置２０００が示される。ただし、パワーステアリング装置２０００は、ラックアシスト型、コラムアシスト型等にも適用される。　 The power steering device 2000 is classified into a pinion assist type, a rack assist type, a column assist type, and the like depending on a place where an assist torque is applied to the steering system 520. FIG. 14 shows a pinion assist type power steering apparatus 2000. However, the power steering device 2000 is also applied to a rack assist type, a column assist type, and the like. *
ＥＣＵ５４２には、トルク信号だけでなく、例えば車速信号も入力され得る。ＥＣＵ５４２のマイクロコントローラは、トルク信号や車速信号などに基づいてモータ５４３をベクトル制御することができる。　 The ECU 542 can receive not only a torque signal but also a vehicle speed signal, for example. The microcontroller of the ECU 542 can vector-control the motor 543 based on a torque signal, a vehicle speed signal, or the like. *
ＥＣＵ５４２は、少なくともトルク信号に基づいて目標電流値を設定する。ＥＣＵ５４２は、車速センサによって検出された車速信号を考慮し、さらに角度センサによって検出されたロータの回転信号を考慮して、目標電流値を設定することが好ましい。ＥＣＵ５４２は、電流センサ（図１参照）によって検出された実電流値が目標電流値に一致するように、モータ５４３の駆動信号、つまり、駆動電流を制御することができる。　 The ECU 542 sets a target current value based on at least the torque signal. The ECU 542 preferably sets the target current value in consideration of the vehicle speed signal detected by the vehicle speed sensor and the rotor rotation signal detected by the angle sensor. The ECU 542 can control the drive signal of the motor 543, that is, the drive current so that the actual current value detected by the current sensor (see FIG. 1) matches the target current value. *
パワーステアリング装置２０００によれば、運転者の操舵トルクにモータ５４３の補助トルクを加えた複合トルクを利用してラック軸５２６によって左右の操舵車輪５２９Ａ、５２９Ｂを操作することができる。特に、上述した機電一体型モータに、上記実施形態のモータ駆動ユニット１０００が利用されることにより、正常時および異常時のいずれにおいても適切な電流制御が可能となる。この結果、正常時および異常時のいずれにおいてもパワーステアリング装置におけるパワーアシストが継続される。また、上記実施形態のモータ駆動ユニット１０００が利用されることにより、角度センサの冗長性が実現されるので、パワーステアリング装置の堅牢性が向上する。 According to the power steering apparatus 2000, the left and right steering wheels 529A and 529B can be operated by the rack shaft 526 using the combined torque obtained by adding the assist torque of the motor 543 to the steering torque of the driver. In particular, by using the motor drive unit 1000 of the above-described embodiment for the above-described electromechanical integrated motor, appropriate current control can be performed at both normal and abnormal times. As a result, the power assist in the power steering device is continued both in the normal time and in the abnormal time. Moreover, since the redundancy of an angle sensor is implement | achieved by utilizing the motor drive unit 1000 of the said embodiment, the robustness of a power steering apparatus improves.
１０１、１０２：電力供給装置　１０６、１０７、１０８、１０９：分離スイッチ　１１１：第１インバータ　１１２：第２インバータ　１２１：第２中性点リレー回路　１２２：第１中性点リレー回路　１３１：第２中性点スイッチ　１３２：第１中性点スイッチ　１２４、１２６：バックアップリレー　２００：モータ　２３０、２４０：ＤＣバス　２５０：シャフト　３０１、３０２：制御回路　３１１，３１２：電源回路　３２１、３２２：角度センサ　３２３、３２４：センサマグネット　３３１、３３２：入力回路　３４１、３４２：マイクロコントローラ　３５１、３５２：駆動回路　３６１、３６２：ＲＯＭ　４０１、４０２：電流センサ　４０３、４０４：電源　４１１、４１２：電圧センサ　１０００：モータ駆動ユニット　１００１、１００２、１００７：実装基板　１０１０：ヒートシンク　２０００：パワーステアリング装置  101, 102: power supply devices 106, 107, 108, 109: separation switch 111: first inverter 112: second inverter 121: second neutral point relay circuit 122: first neutral point relay circuit 131: second medium Sex point switch 132: First neutral point switch 124, 126: Backup relay 200: Motor 230, 240: DC bus 250: Shaft 301, 302: Control circuit 311, 312: Power supply circuit 321, 322: Angle sensor 323, 324 : Sensor magnet 331, 332: Input circuit 341, 342: Microcontroller 351, 352: Drive circuit 361, 362: ROM 401, 402: Current sensor 403, 404: Power supply 411, 412: Voltage sensor 1000: Motor drive uni Doo 1001,1002,1007: the mounting substrate 1010: The heat sink 2000: power steering system

Claims (7)

  1. 電源からの電力を、ｎ相（ｎは３以上の整数）の巻線を有するモータに供給する電力に変換する電力変換装置であって、



    　前記巻線の一端に接続される第１インバータと、



    　前記第１インバータが実装された第１実装基板と、



    　前記一端に対する他端に接続される第２インバータと、



    　前記第２インバータが実装され、前記第１実装基板と基板面同士が対向した第２実装基板と、



    　前記第２基板上に実装され、かつ、前記巻線に対する前記一端側と前記他端側とのうち前記一端側における中性点の形成・非形成を切替える第１中性点リレー回路と、



    　前記第１基板上に実装され、かつ、前記巻線に対する前記一端側と前記他端側とのうち前記他端側における中性点の形成・非形成を切替える第２中性点リレー回路と、を備え、



    　前記第１インバータと前記第１中性点リレー回路が、前記第１実装基板と前記第２実装基板との対向方向で見た場合に互いに重なり合う位置に実装され、



    　前記第２インバータと前記第２中性点リレー回路が、前記対向方向で見た場合に互いに重なり合う位置に実装される電力変換装置。     A power conversion device that converts power from a power source into power supplied to a motor having an n-phase (n is an integer of 3 or more) winding,



    A first inverter connected to one end of the winding;



    A first mounting board on which the first inverter is mounted;



    A second inverter connected to the other end with respect to the one end;



    A second mounting board on which the second inverter is mounted and the first mounting board and the board surfaces face each other;



    A first neutral point relay circuit that is mounted on the second substrate and that switches formation / non-formation of a neutral point on the one end side of the one end side and the other end side with respect to the winding;



    A second neutral point relay circuit that is mounted on the first substrate and that switches formation / non-formation of a neutral point on the other end side of the one end side and the other end side with respect to the winding; With



    The first inverter and the first neutral relay circuit are mounted at positions that overlap each other when viewed in the opposing direction of the first mounting board and the second mounting board,



    The power converter mounted in a position where the second inverter and the second neutral relay circuit overlap each other when viewed in the facing direction.
  2. 前記第１実装基板上に実装され、前記第１インバータおよび前記第２中性点リレー回路を制御する第１制御回路と、



    　前記第２実装基板上に実装され、前記第２インバータおよび前記第１中性点リレー回路を制御する第２制御回路と、を備え、



    　前記電源が、互いに独立な第１電源と第２電源とを備え、



    　前記第１制御回路および前記第１インバータは、前記第１電源から電力を供給され、



    　前記第２制御回路および前記第２インバータは、前記第２電源から電力を供給される請求項１に記載の電力変換装置。     A first control circuit mounted on the first mounting substrate and controlling the first inverter and the second neutral relay circuit;



    A second control circuit mounted on the second mounting substrate and controlling the second inverter and the first neutral relay circuit;



    The power source comprises a first power source and a second power source independent of each other;



    The first control circuit and the first inverter are supplied with power from the first power source,



    The power converter according to claim 1, wherein the second control circuit and the second inverter are supplied with power from the second power source.
  3. 前記第１実装基板と前記第２実装基板との間を渡り前記第１中性点リレー回路に接続された第１導線と、



    　前記第１実装基板と前記第２実装基板との間を渡り前記第２中性点リレー回路に接続された第２導線と、を備え、



    　前記第１中性点リレー回路は、前記第１導線を介して前記第１インバータにおける電源側に位置する電源端と、前記第１インバータにおけるグランド側に位置するグランド端とに接続され、かつ、それら電源端とグランド端との接続・非接続を切替え、



    　前記第２中性点リレー回路は、前記第２導線を介して前記第２インバータにおける電源側に位置する電源端と、前記第２インバータにおけるグランド側に位置するグランド端とに接続され、かつ、それら電源端とグランド端との接続・非接続を切替える請求項１または２に記載の電力変換装置。     A first conductor connected between the first mounting board and the second mounting board and connected to the first neutral relay circuit;



    A second conductor connected between the first mounting board and the second mounting board and connected to the second neutral relay circuit;



    The first neutral point relay circuit is connected to the power supply end located on the power supply side in the first inverter and the ground end located on the ground side in the first inverter via the first conductor, and Switching between connecting and disconnecting the power supply end and the ground end,



    The second neutral point relay circuit is connected to the power supply end located on the power supply side of the second inverter and the ground end located on the ground side of the second inverter via the second conductor, and The power converter according to claim 1 or 2, wherein connection / disconnection between the power supply terminal and the ground terminal is switched.
  4. 前記巻線の前記一端および前記他端の双方が前記第１実装基板と前記第２実装基板との間を渡り、



    　前記第１中性点リレー回路が、前記巻線の前記一端に前記第１インバータと並列に接続され、かつ、前記一端同士の接続・非接続を切替え、



    　前記第２中性点リレー回路が、前記巻線の前記他端に前記第２インバータと並列に接続され、かつ、前記他端同士の接続・非接続を切替える請求項１または２に記載の電力変換装置。     Both the one end and the other end of the winding cross between the first mounting substrate and the second mounting substrate,



    The first neutral point relay circuit is connected to the one end of the winding in parallel with the first inverter, and the connection / disconnection of the one end is switched;



    3. The electric power according to claim 1, wherein the second neutral point relay circuit is connected to the other end of the winding in parallel with the second inverter and switches connection / disconnection between the other ends. Conversion device.
  5. 前記対向方向で見た場合に、前記第１インバータと前記第２インバータとが互いに対称な配置であり、前記第１中性点リレー回路と前記第２中性点リレー回路とが互いに対称な配置である請求項１から４のいずれか１項に記載の電力変換装置。 When viewed in the facing direction, the first inverter and the second inverter are symmetrically arranged, and the first neutral point relay circuit and the second neutral point relay circuit are symmetrically arranged. The power converter according to any one of claims 1 to 4.
  6. 請求項１から５のいずれか１項に記載の電力変換装置と、



    　前記電力変換装置に接続され、前記電力変換装置によって変換された電力が供給されるモータと、



    を備えた駆動装置。     The power conversion device according to any one of claims 1 to 5,



    A motor connected to the power converter and supplied with power converted by the power converter;



    A drive device comprising:
  7. 請求項１から５のいずれか１項に記載の電力変換装置と、



    　前記電力変換装置によって変換された電力が供給されるモータと、



    　前記モータにより駆動されるパワーステアリング機構と、



    を備えるパワーステアリング装置。     The power conversion device according to any one of claims 1 to 5,



    A motor to which power converted by the power converter is supplied;



    A power steering mechanism driven by the motor;



    A power steering apparatus comprising:
PCT/JP2019/000631 2018-02-02 2019-01-11 Power conversion device, driving device, and power steering device WO2019150912A1 (en)

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